TY - GEN
T1 - Deterministic sampling-based switching Kalman filtering for vehicle tracking
AU - Veeraraghavan, Harini
AU - Papanikolopoulos, Nikolaos P
AU - Schrater, Paul R
PY - 2006
Y1 - 2006
N2 - Accurate tracking is a difficult task in most computer vision applications. Errors in target localization and tracking result not only from the general uncontrolled nature of the environment, but also from inaccurate modeling of the target motion. This work presents a novel solution for the robust estimation of target trajectories obtained from real-world scenes such as traffic intersections. The main contribution of this work is a deterministic sampling approach applied to the filtering step of the switching Kalman filter/smoother. The unscented transform is used to obtain a fixed set of samples of the state distribution in the filtering step. Results demonstrating the improved accuracy and robustness of the proposed method, namely, deterministic sampling or unscented transform-based switching Kalman filter (DS-SKS or UKS) and the standard switching Kalman filter/smoother (SKS) are presented.
AB - Accurate tracking is a difficult task in most computer vision applications. Errors in target localization and tracking result not only from the general uncontrolled nature of the environment, but also from inaccurate modeling of the target motion. This work presents a novel solution for the robust estimation of target trajectories obtained from real-world scenes such as traffic intersections. The main contribution of this work is a deterministic sampling approach applied to the filtering step of the switching Kalman filter/smoother. The unscented transform is used to obtain a fixed set of samples of the state distribution in the filtering step. Results demonstrating the improved accuracy and robustness of the proposed method, namely, deterministic sampling or unscented transform-based switching Kalman filter (DS-SKS or UKS) and the standard switching Kalman filter/smoother (SKS) are presented.
KW - Deterministic sampling
KW - Smoothing
KW - Switching Kalman filtering
KW - Unscented transform
UR - https://www.scopus.com/pages/publications/41849144917
UR - https://www.scopus.com/pages/publications/41849144917#tab=citedBy
U2 - 10.1109/itsc.2006.1707409
DO - 10.1109/itsc.2006.1707409
M3 - Conference contribution
AN - SCOPUS:41849144917
SN - 1424400945
SN - 9781424400942
T3 - IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
SP - 1340
EP - 1345
BT - Proceedings of ITSC 2006
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2006 IEEE Intelligent Transportation Systems Conference, ITSC 2006
Y2 - 17 September 2006 through 20 September 2006
ER -