Eryildirim, AbdulkadirGuldogan, Mehmet B.2025-10-242025-10-2420161051-20041095-4333https://doi.org/10.1016/j.dsp.2016.06.003https://hdl.handle.net/20.500.12899/3413This paper presents a Gaussian mixture (GM) implementation of the Bernoulli filter for extended target tracking, which we call the extended target GM Bernoulli (ET-GM-Ber) filter. Closed form expressions for the ET-GM-Ber filter recursions are obtained. A clustering step is integrated into the measurement update stage in order to have a computationally tractable filter. Performance of the proposed filter is tested both on the simulated data and experimental data collected using an ultra-wideband (UWB) localization system. Simulations and experimental results demonstrate the accurate and effective performance of the proposed filter. (C) 2016 Elsevier Inc. All rights reserved.eninfo:eu-repo/semantics/closedAccessExtended target; Random finite set; Target tracking; Bernoulli filter; Gaussian mixturesArticle10.1016/j.dsp.2016.06.003571122-s2.0-84977120260Q1WOS:000381246000001Q2