Title :
Robust and efficient tracking in image sequences using a Kalman filter and an affine motion model
Author :
Karlsson, Henrik ; Nygårds, Jonas
Author_Institution :
Swedish Defence Res. Agency, Linkoping, Sweden
Abstract :
This paper summarizes an already existing tracking algorithm and presents an approach to improve it by incorporating a Kalman filter. The aim is to develop a lightweight, robust real-time tracking system, to be used on an experimental geo-referenced camera platform. The result is a more robust, occlusion-resistant tracking algorithm exemplified by some tracking scenarios.
Keywords :
Kalman filters; computerised navigation; image sequences; mobile robots; motion estimation; real-time systems; target tracking; Kalman filter; affine motion model; image sequences; moving object tracking; navigation; occlusion-resistant tracking; real-time system; tracking system; unmanned aerial vehicles; Cameras; Filters; Image sequences; Laser feedback; Navigation; Real time systems; Robustness; Signal processing algorithms; Target tracking; Unmanned aerial vehicles;
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
DOI :
10.1109/IRDS.2002.1041369
