Book ChapterDOI
Kalman particle PHD filter for multi-target visual tracking
Weizhang Ma,Bo Ma,Xueliang Zhan +2 more
- pp 341-348
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TLDR
The Kalman filter is applied to generate the proposal distribution, which considers the latest observations in the state transition and matches the posterior density well and provides a robust tracking and outperforms other particle PHD filters.Abstract:
We propose a novel filtering algorithm based on the Probability Hypothesis Density (PHD) for multi-target visual tracking. Some previous methods using particle PHD filter for multi-target tracking have showed superiority in computation and achieved good results, however, the proposal distribution and observation model used in the standard particle PHD filter are naive and poor, which degrade the performance of the tracker. In this paper, the Kalman filter is applied to generate the proposal distribution, which considers the latest observations in the state transition and matches the posterior density well. Moreover, we adopt a precise observation model, which takes the dynamic state of the targets into account, as well as the appearance. The simulation results on real-world scenarios show that our method provides a robust tracking and outperforms other particle PHD filters.read more
Citations
More filters
Journal Article
Robust Visual Tracking for Multiple Targets
TL;DR: In this article, a global nearest neighbor data association algorithm is introduced to assign boosting detections to the existing tracks for the proposal distribution in particle filters and a mean-shift algorithm is embedded into the particle filter framework to stabilize the trajectories of the targets for robust tracking during mutual occlusion.
Dissertation
Single to multiple target, multiple type visual tracking
TL;DR: A long-term model-free single target tracking is developed by learning discriminative correlation filters and an online classifier that can track a target of interest in both sparse and crowded scenes, and a multiple target, multiple type filtering algorithm is developed using Random Finite Set (RFS) theory.
Journal ArticleDOI
Kalman-Gain Aided Particle PHD Filter for Multitarget Tracking
TL;DR: An efficient sequential Monte Carlo probability hypothesis density (PHD) filter which employs the Kalman-gain approach during weight update to correct predicted particle states by minimizing the mean square error between the estimated measurement and the actual measurement received at a given time in order to arrive at a more accurate posterior.
Dissertation
Advanced signal processing techniques for multi-target tracking
TL;DR: In this paper, a new and efficient Kalman-gain aided sequential Monte Carlo probability hypothesis density (KG-SMC-PHD) filter and a cardinalised particle probability hypothesis densification filter are proposed.
Book ChapterDOI
Election Based Pose Estimation of Moving Objects
Liming Gao,Chongwen Wang +1 more
TL;DR: A key-points based method is presented to track and estimate the pose of rigid objects, which is achieved by using the tracked points of the object to calculate the attitude changes, and the small amount of key- points with highly accuracy can ensure real-time performance.
References
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Journal ArticleDOI
On sequential Monte Carlo sampling methods for Bayesian filtering
TL;DR: An overview of methods for sequential simulation from posterior distributions for discrete time dynamic models that are typically nonlinear and non-Gaussian, and how to incorporate local linearisation methods similar to those which have previously been employed in the deterministic filtering literature are shown.
BookDOI
An Introduction to the Kalman Filter
Greg Welch,Gary Bishop +1 more
TL;DR: The discrete Kalman filter as mentioned in this paper is a set of mathematical equations that provides an efficient computational (recursive) means to estimate the state of a process, in a way that minimizes the mean of the squared error.
Journal ArticleDOI
The Gaussian Mixture Probability Hypothesis Density Filter
Ba-Ngu Vo,Wing-Kin Ma +1 more
TL;DR: Under linear, Gaussian assumptions on the target dynamics and birth process, the posterior intensity at any time step is a Gaussian mixture and closed-form recursions for propagating the means, covariances, and weights of the constituent Gaussian components of the posteriorintensity are derived.
Related Papers (5)
Joint multiple target tracking and classification using the Unscented Kalman Particle PHD filter
M. Melzi,A. Ouldali,Z. Messaoudi +2 more