Publication

Feature point tracking combining the Interacting Multiple Model filter and an efficient assignment algorithm

Touradj Ebrahimi, Yousri Abdeljaoued
2007
Conference Papers

Abstract

An algorithm for feature point tracking is proposed. The Interacting Multiple Model (IMM) filter is used to estimate the state of a feature point. The problem of data association, i.e. establishing which feature point to use in the state estimator, is solved by an assignment algorithm. A track management method is also developed. In particular a track continuation method is presented. The evaluation of the tracking system on real sequences shows that the IMM filter combined with the assignment algorithm outperforms the Kalman filter, used with the Nearest Neighbor (NN) filter, in terms of data association performance and robustness to sudden feature point maneuvers.

Official source

https://infoscience.epfl.ch/entities/publication/e0203715-fee2-4f8a-8d7f-5a5df30340bb

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Touradj Ebrahimi, Yousri Abdeljaoued
2007
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/e0203715-fee2-4f8a-8d7f-5a5df30340bb

About this result

Related concepts (32)

Kalman filter

For statistics and control theory, Kalman filtering, also known as linear quadratic estimation (LQE), is an algorithm that uses a series of measurements observed over time, including statistical noise and other inaccuracies, and produces estimates of unknown variables that tend to be more accurate than those based on a single measurement alone, by estimating a joint probability distribution over the variables for each timeframe. The filter is named after Rudolf E. Kálmán, who was one of the primary developers of its theory.

Vehicle tracking system

A vehicle tracking system combines the use of automatic vehicle location in individual vehicles with software that collects these fleet data for a comprehensive picture of vehicle locations. Modern vehicle tracking systems commonly use GPS or GLONASS technology for locating the vehicle, but other types of automatic vehicle location technology can also be used. Vehicle information can be viewed on electronic maps via the Internet or specialized software.

Search algorithm

In computer science, a search algorithm is an algorithm designed to solve a search problem. Search algorithms work to retrieve information stored within particular data structure, or calculated in the search space of a problem domain, with either discrete or continuous values. Although search engines use search algorithms, they belong to the study of information retrieval, not algorithmics. The appropriate search algorithm to use often depends on the data structure being searched, and may also include prior knowledge about the data.

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Feature point tracking combining the Interacting Multiple Model filter and an efficient assignment algorithm

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