Apparatus and method for tracking extended objects

An apparatus (100) and method for tracking one or more extended objects (110a to 110c) is disclosed. The device (100) comprises at least one sensor (107) for performing multiple measurements on the one or more extended objects (110a to 110c) to obtain a point cloud of measurement points. Furthermore, the apparatus (100) comprises processing circuitry (101) for determining, for each measurement point of the point cloud and each object of the one or more extended objects (110a to 110c), a respective edge association probability (MAP) value for a respective measurement point associated with a respective object. Furthermore, the processing circuitry (101) is configured to define, for each of the one or more objects (110a to 110c), a respective subset of a point cloud of measurement points according to the plurality of MAP values, and to assign one or more measurement points in the subset of the point cloud to a respective object of the one or more extended objects (110a to 110c).