Unscented Kalman filtering for articulated human tracking

Anders Boesen Lindbo Larsen; Søren Hauberg; Kim Steenstrup Pedersen

doi:10.1007/978-3-642-21227-7_22

Unscented Kalman filtering for articulated human tracking

Anders Boesen Lindbo Larsen, Søren Hauberg, Kim Steenstrup Pedersen

Datalogisk Institut

8 Citationer (Scopus)

Abstract

We present an articulated tracking system working with data from a single narrow baseline stereo camera. The use of stereo data allows for some depth disambiguation, a common issue in articulated tracking, which in turn yields likelihoods that are practically unimodal. While current state-of-the-art trackers utilize particle filters, our unimodal likelihood model allows us to use an unscented Kalman filter. This robust and efficient filter allows us to improve the quality of the tracker while using substantially fewer likelihood evaluations. The system is compared to one based on a particle filter with superior results. Tracking quality is measured by comparing with ground truth data from a marker-based motion capture system.

Originalsprog	Engelsk
Titel	Image Analysis : 17th Scandinavian Conference, SCIA 2011, Ystad, Sweden, May 2011. Proceedings
Redaktører	Anders Heyden, Fredrik Kahl
Antal sider	10
Forlag	Springer
Publikationsdato	2011
Sider	228-237
ISBN (Trykt)	978-3-642-21226-0
ISBN (Elektronisk)	978-3-642-21227-7
DOI	https://doi.org/10.1007/978-3-642-21227-7_22
Status	Udgivet - 2011
Begivenhed	17th Scandinavian Conference on Image Analysis - Ystad, Sverige Varighed: 23 maj 2011 → 27 maj 2011 Konferencens nummer: 17

Konference

Konference	17th Scandinavian Conference on Image Analysis
Nummer	17
Land/Område	Sverige
By	Ystad
Periode	23/05/2011 → 27/05/2011

Navn	Lecture notes in computer science
Vol/bind	6688
ISSN	0302-9743

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10.1007/978-3-642-21227-7_22

10.1007%2F978-3-642-21227-7_22.pdfForlagets udgivne version, 473 KB

Citationsformater

Unscented Kalman filtering for articulated human tracking. / Boesen Lindbo Larsen, Anders; Hauberg, Søren; Pedersen, Kim Steenstrup.
Image Analysis: 17th Scandinavian Conference, SCIA 2011, Ystad, Sweden, May 2011. Proceedings. red. / Anders Heyden; Fredrik Kahl. Springer, 2011. s. 228-237 (Lecture notes in computer science, Bind 6688).

Publikation: Bidrag til bog/antologi/rapport › Konferencebidrag i proceedings › Forskning › peer review

Boesen Lindbo Larsen, A, Hauberg, S & Pedersen, KS 2011, Unscented Kalman filtering for articulated human tracking. i A Heyden & F Kahl (red), Image Analysis: 17th Scandinavian Conference, SCIA 2011, Ystad, Sweden, May 2011. Proceedings. Springer, Lecture notes in computer science, bind 6688, s. 228-237, 17th Scandinavian Conference on Image Analysis, Ystad, Sverige, 23/05/2011. https://doi.org/10.1007/978-3-642-21227-7_22

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Unscented Kalman filtering for articulated human tracking

Abstract

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