Conditional Density Propagation for Visual Tracking英文清晰版.pdfVIP

International Journal of Computer Vision 29(1), 5–28 (1998) c 1998 Kluwer Academic Publishers. Manufactured in The Netherlands. CONDENSATION—Conditional Density Propagation for Visual Tracking MICHAEL ISARD AND ANDREW BLAKE Department of Engineering Science, University of Oxford, Oxford OX1 3PJ, UK Received July 16, 1996; Accepted March 3, 1997 Abstract. The problem of tracking curves in dense visual clutter is challenging. Kalman filtering is inadequate because it is based on Gaussian densities which, being unimodal, cannot represent simultaneous alternative hypothe- ses. The algorithm uses “factored sampling”, previously applied to the interpretation of static images, in which the probability distribution of possible interpretations is represented by a randomly generated set. uses learned dynamical models, together with visual observations, to propagate the random set over time. The result is highly robust tracking of agile motion. Notwithstanding the use of stochastic methods, the algorithm runs in near real-time. 1. Tracking Curves in Clutter models of a moving object are available, they can be matched effectively to image data, though usually at The purpose of this paper1 is to establish a stochas- considerable computational cost (Hogg, 1983; Lowe, tic framework for tracking curves in visual clutter, us- 1991; Sullivan, 1992; Huttenlocher et al., 1993). Once ing a sampling algorithm. The approach is rooted in an object has been located approximately, tracking it ideas from st