Rao-Blackwellised particle filter with adaptive system noise and its evaluation for tracking in surveillance

Xinyu Xu, Baoxin Li

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In the visual tracking domain, Particle Filtering (PF) can become quite inefficient when being applied into high dimensional state space. Rao-Blackwellisation [1] has been shown to be an effective method to reduce the size of the state space by marginalizing out some of the variables analytically [2]. In this paper based on our previous work [3] we proposed RBPF tracking algorithm with adaptive system noise model. Experiments using both simulation data and real data show that the proposed RBPF algorithm with adaptive noise variance improves its performance significantly over conventional Particle Filter tracking algorithm. The improvements manifest in three aspects: increased estimation accuracy, reduced variance for estimates and reduced particle numbers are needed to achieve the same level of accuracy.

Original languageEnglish (US)
Title of host publicationProceedings of SPIE - The International Society for Optical Engineering
DOIs
StatePublished - May 1 2006
EventVisual Communications and Image Processing 2006 - San Jose, CA, United States
Duration: Jan 17 2006Jan 19 2006

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
Volume6077
ISSN (Print)0277-786X

Other

OtherVisual Communications and Image Processing 2006
CountryUnited States
CitySan Jose, CA
Period1/17/061/19/06

Keywords

  • Adaptive noise
  • Rao-Blackwellised particle filter
  • Surveillance
  • Tracking

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

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  • Cite this

    Xu, X., & Li, B. (2006). Rao-Blackwellised particle filter with adaptive system noise and its evaluation for tracking in surveillance. In Proceedings of SPIE - The International Society for Optical Engineering [60770W] (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 6077). https://doi.org/10.1117/12.643073