Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Second-Order Extended Kalman Filter for Extended Object and Group
  Tracking   In this paper, we propose a novel method for estimating an elliptic shape
approximation of a moving extended object that gives rise to multiple scattered
measurements per frame. For this purpose, we parameterize the elliptic shape
with its orientation and the lengths of the semi-axes. We relate an individual
measurement with the ellipse parameters by means of a multiplicative noise
model and derive a second-order extended Kalman filter for a closed-form
recursive measurement update. The benefits of the new method are discussed by
means of Monte Carlo simulations for both static and dynamic scenarios.

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The categories of this paper are: math
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The categories of this paper are: hep-lat
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The categories of this paper are: math-ph
15
The categories of this paper are: nucl-ex
32
The categories of this paper are: atom-ph
22
The categories of this paper are: chao-dyn
36
The categories of this paper are: cmp-lg
34
The categories of this paper are: chem-ph
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The categories of this paper are: physics
30
The categories of this paper are: q-alg
21
The categories of this paper are: adap-org
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The categories of this paper are: cond-mat
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The categories of this paper are: funct-an
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The categories of this paper are: astro-ph
16
The categories of this paper are: stat
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The categories of this paper are: q-fin