An efficient Rao-Blackwellized particle filter for object tracking

Elise Arnaud 1 Etienne Mémin 1
1 VISTA - Vision spatio-temporelle et active
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
Abstract : In this paper we present a technique for the tracking of textured almost planar object. The target is modeled as a noisy planar cloud of points. The tracking is led with an appropriate non linear stochastic filter. The particular system that we devised is conditionally Gaussian and can be efficiently implemented through variance reduction principle known as Rao-Blackwellisation. Our model allows also to melt a correlation measurements with dynamic model estimated from the images. Such a cooperation within a stochastic filtering framework allows the tracker to be robust to occlusions and target's unpredictable changes of speed and direction. We demonstrate the efficiency of the tracker on different types of real world sequences
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Elise Arnaud, Etienne Mémin. An efficient Rao-Blackwellized particle filter for object tracking. IEEE international conference on image processing, 2005, Genes, Italy. ⟨inria-00306723⟩

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