Adaption of Unscented Particle filter for Visual tracking in Electro-Optic Theodolite
To satisfy the need of visual tracking in electrooptic theodolite, we use some simplification technology to adapt UPF (Unscented Particle Filter), which reduce the computational complexity1 considerably. The state space equation in electrooptic theodolite tracking system is linear; the sigma sampling in nnscented transform can be simplified as a decomposition-composition process; the nonlinear transmit of sigma sampling, state vector, measurement vector and their covariance matrix are simplified by an MSUPF (UPF for Mixture system) algorithm. Experiment result shows that the proposed algorithm has better calculation accuracy with considerable lower computational complexity compare with UPF. The computation work of the proposed algorithm is only 81.13％ of that of the UPF.
particle filter unscented particle filter visual tracking object tracking
Rongtai Cai Qingxiang Wu Dawei Wang Yuanhao Wu
School of Physics, Optics, Electronic and Information Engineering,Fujian Normal University Fuzhou, 3 Changchun Institute of Optics, Fine Mechanics and Physics,Chinese Academy of Science Changchun. 1300
国际会议
海口
英文
263-267
2011-02-22（万方平台首次上网日期，不代表论文的发表时间）