Title :
A probabilistic observer for visual tracking
Author :
Ndiour, I.J. ; Arif, O. ; Teizer, Jochen ; Vela, P.A.
Author_Institution :
Sch. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
fDate :
June 30 2010-July 2 2010
Abstract :
This paper describes an observer for estimation of the rigid pose and shape states associated to an object being tracked in an image sequence. The defined observer utilizes standard estimation strategies for the finite-dimensional rigid pose sub-states, and a novel strategy for the shape sub-states. In particular, the shape sub-state observer utilizes an implicit probability field, where the 50% probability iso-contour defines the object shape. A general purpose second-order model and a corresponding correction scheme are defined for the observer state. The observer is applied to recorded imagery and its performance is examined using objective error metrics.
Keywords :
object recognition; observers; pose estimation; object tracking; objective error metrics; probabilistic observer; rigid pose estimation; visual tracking; Active contours; Image segmentation; Image sequences; Observers; Recursive estimation; Shape control; Shape measurement; State estimation; Target tracking; Video sequences;
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
Print_ISBN :
978-1-4244-7426-4
DOI :
10.1109/ACC.2010.5530871