---

The Tracking of targets with measurements obtained with passive imaging sensors is handled in this monograph. The methodology for the tracking of the centroid of small extended objects using measurements from a forward looking infrared imaging sensor is presented. The statistical characterization of the centroid of the target is obtained. The offset measurement noise is shown to be autocorrelated. State variable models and the corresponding filters for tracking the target centroid with these measurements are presented. Their performances are compared and it is verified with simulations that the filter models with the autocorrelated measurement noise provides the best performance. An algorithm for the tracking of crossing targets using the centroid measurement and the centroid offset measurement of the distributed image formed by the targets is also presented next. The Joint Probabilistic data Association Merged-Measurement Coupled Filter is employed for State Estimation which performs filtering in a coupled manner for targets with common measurements. Two filters are examined: one assuming the displacement noise white and the other one modeling it correctly as autocorrelated.

---

Hemchandra M. Shertukde, was born in Mumbai India, on April 29, 1953. He graduated from IIT Kharagpur with B.Tech (High Hons)´75, MS and Ph.D. in Electrical Systems Engineering from the University of Connecticut, Storrs, CT, USA in 1985 and 1989 respectively. He is presently a Full Professor of Electrical Engineering at the University of Hartford.

---