File(s) under permanent embargo
Vision based target tracking using robust linear filtering
conference contribution
posted on 2007-01-01, 00:00 authored by Adrian Bishop, A Savkin, Pubudu PathiranaPubudu PathiranaThe use of perspective projection in tracking a target from a video stream involves nonlinear observations. The target dynamics, however, are modeled in Cartesian coordinates and result in a linear system. In this paper we provide a robust version of a linear Kalman filter and perform a measurement conversion technique on the nonlinear optical measurements. We show that our linear robust filter significantly outperforms the Extended Kalman Filter. Moreover, we prove that the state estimation error is bounded in a probabilistic sense.
History
Event
European Control Conference ( 2007: Kos, Greece)Pagination
1442 - 1447Publisher
European Union Control Association (EUCA)Location
Kos, GreecePlace of publication
[Kos, Greece]Start date
2007-07-02End date
2007-07-05ISBN-13
9789608902855ISBN-10
9608902851Language
engPublication classification
E1 Full written paper - refereed; E Conference publicationTitle of proceedings
ECC '07: proceedings of the European Control ConferenceUsage metrics
Categories
No categories selectedLicence
Exports
RefWorks
BibTeX
Ref. manager
Endnote
DataCite
NLM
DC