An efficient and robust tracking system using Kalman Filter

• Type: Article in International Conference Proceedings Book
• Date: 2006

Authors

Raquel Ramos Pinho (Author) FEUP; João Manuel Ribeiro da Silva Tavares (Author) FEUP; Miguel Fernando Paiva Velhote Correia (Author) FEUP

Conference proceedings International

Title: VIPSI-2006 VENICE

Initial page: 8 p

VIPSI-2006 VENICE – VIP Symposia on Internet related research with elements of M+I+T++

Venice, Italy, October 12 to 15, 2006

Scientific classification

FOS: Engineering and technology > Other engineering and technologies

CORDIS: Technological sciences > Engineering > Control engineering

Other information

Abstract (EN): In this paper we address the problem of tracking features efficiently and robustly along image sequences. To estimate the undergoing movement we use an approach based on Kalman filtering. The measured data is incorporated by optimizing the global correspondence set based on an efficient approximation of the Mahalanobis Distance (MD). Along the image sequence, to deal with the incoming and previously existing features a new management model is considered, so that each occluded feature may be kept on tracking or it may be excluded depending on its historical behavior. This approach handles adequately occlusion, disappearance and (re)appearance of features while tracking efficiently movement in the image scene. It also allows feature tracking in long sequences at low computational cost. Some experimental results are presented.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 8