Unscented Kalman Filtering for Single Camera Based Motion and Shape Estimation 英文参考文献.docVIP

Sensors 2011, 11, 7437-7454; doi:10.3390/s110807437 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Unscented Kalman Filtering for Single Camera Based Motion and Shape Estimation Dah-Jing Jwo 1,*, Chien-Hao Tseng 2, Jen-Chu Liu 3 and Hsien-Der Lee 3 1 Department of Communications, Navigation and Control Engineering, National Taiwan Ocean University, 2 Pei-Ning Rd., Keelung 202-24, Taiwan 2 National Applied Research Laboratories, National Center for High-Performance Computing, Hsinchu 300, Taiwan; E-Mail: c00how00@.tw 3 Department of Marine Engineering, National Taiwan Ocean University, 2 Pei-Ning Rd., Keelung 202-24, Taiwan; E-Mails: .tw (J.-C.L.); hsien@.tw (H.-D.L.) * Author to whom correspondence should be addressed; E-Mail: djjwo@.tw; Tel: +886-2-2462-2192 ext. 7209; Fax: +886-2-2463-3492. Received: 26 May 2011; in revised form: 4 July 2011 / Accepted: 5 July 2011 / Published: 25 July 2011 Abstract: Accurate estimation of the motion and shape of a moving object is a challenging task due to great variety of noises present from sources such as electronic components and the influence of the external environment, etc. To alleviate the noise, the filtering/ estimation approach can be used to reduce it in streaming video to obtain better estimation accuracy in feature points on the moving objects. To deal with the filtering problem in the appropriate nonlinear system, the extended Kalman filter (EKF), which neglects higher-order derivatives in the linearization process, has been very popular. The unscented Kalman filter (UKF), which uses a deterministic sampling approach to capture the mean and covariance estimates with a minimal set of sample points, is able to achieve at least the second order accuracy without Jacobians’ computation involved. In this paper, the UKF is applied to the rigid body motion and shape dynamics to estimate feature points on moving objects. The performance ev