  Urban intersections put high demands on fully automated vehicles, in
particular, if occlusion occurs. In order to resolve such and support vehicles
in unclear situations, a popular approach is the utilization of additional
information from infrastructure-based sensing systems. However, a widespread
use of such systems is circumvented by their complexity and thus, high costs.
Within this paper, a generic interface is proposed, which enables a huge
variety of sensors to be connected. The sensors are only required to measure
very few features of the objects, if multiple distributed sensors with
different viewing directions are available. Furthermore, a Labeled
Multi-Bernoulli (LMB) filter is presented, which can not only handle such
measurements, but also infers missing object information about the objects'
extents. The approach is evaluated on simulations and demonstrated on a
real-world infrastructure setup.
