Vision-based target tracking and surveillance with robust set-valued state estimation

Bishop, Adrian N., Savkin, Andrey V. and Pathirana, Pubudu 2010, Vision-based target tracking and surveillance with robust set-valued state estimation, IEEE signal processing letters, vol. 17, no. 3, pp. 289-292.

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Title Vision-based target tracking and surveillance with robust set-valued state estimation
Author(s) Bishop, Adrian N.
Savkin, Andrey V.
Pathirana, Pubudu
Journal name IEEE signal processing letters
Volume number 17
Issue number 3
Start page 289
End page 292
Total pages 4
Publisher IEEE
Place of publication Piscataway, N.J.
Publication date 2010-03
ISSN 1070-9908
1558-2361
Keyword(s) Computer vision
Robust estimation
Set-valued estimation
Target tracking
Summary Tracking a target from a video stream (or a sequence of image frames) involves nonlinear measurements in Cartesian coordinates. However, the target dynamics, modeled in Cartesian coordinates, result in a linear system. We present a robust linear filter based on an analytical nonlinear to linear measurement conversion algorithm. Using ideas from robust control theory, a rigorous theoretical analysis is given which guarantees that the state estimation error for the filter is bounded, i.e., a measure against filter divergence is obtained. In fact, an ellipsoidal set-valued estimate is obtained which is guaranteed to contain the true target location with an arbitrarily high probability. The algorithm is particularly suited to visual surveillance and tracking applications involving targets moving on a plane.
Language eng
Field of Research 080104 Computer Vision
Socio Economic Objective 810103 Command, Control and Communications
HERDC Research category C1 Refereed article in a scholarly journal
Copyright notice ©2010, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30028355

Document type: Journal Article
Collection: School of Engineering
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