The CBMeMBer filter is enhanced to track multiple extended targets, the CBMeMBer filter for extended targets is proposed, and its Gaussian mixture implementations are given. The proposed filter mainly improves the update step of the original CBMeMBer filter, that is, the multi-measurement likelihood function is introduced to avoid the over estimation of targets’ number. Simulation results show that the proposed filter performs better than the original CBMeMBer filter and
closes to PHD filter for extended targets when estimating targets’ number and state on multiple extended targets tracking occasions.