Adaptive foveal sensor for target tracking

A target tracker based on an adaptive foveal sensor and implemented using particle filters is presented. The foveal sensor\´s field of view includes a high sensitivity "foveal" region surrounded by a lower sensitivity region. The location and acuity of the foveal region are adaptively adjusted, using the estimated target position and spread of particles. A Gaussian resampling method reduces the adverse effects of occasional large observation errors. Monte Carlo simulations show that the foveal sensor with adaptive acuity always outperforms a fixed acuity sensor; also, the particle outperforms previous Kalman filter-based implementations of the non-adaptive foveal sensor.