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Particle filter planar target tracking with a monocular camera for mobile robots


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Abstract

This paper presents an effective and simple target tracking approach called PSIPT (Particle filter Single Image based Planar Target tracking). Compared with other works, the uniqueness of PSIPT includes: (1) only a single color camera provides the images to be processed; (2) the particle filter does not perform data fusion calculations; (3) the distance evaluation carried out in the particle filter does not need the camera2019s intrinsic and extrinsic parameters. Meanwhile, this paper also reveals that, under different target shapes and cameras, a high degree of negative linear dependence remains between: (1) a target2019s pixel height and vertical distance; (2) a target2019s vertical distance and PWHD (Pixel-Width-to-Horizontal Distance) ratio. According to the experimental results, PSIPT performs better than its Kalman filter variant in both the L-shape and S-shape tracking experiments. In addition, PSIPT has moderate performance in the target missing surveillance experiment. Moreover, a hybrid and enhanced version of PSIPT, which is equipped with an AdaBoost classifier in this study, leads to good surveillance performance in the target missing experiment.


Keywords


Pages

Total Pages: 9
Pages: 117-125

DOI
10.1080/10798587.2016.1159059


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Published

Volume: 23
Issue: 1
Year: 2016

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JOURNAL INFORMATION


ISSN PRINT: 1079-8587
ISSN ONLINE: 2326-005X
DOI PREFIX: 10.31209
10.1080/10798587 with T&F
IMPACT FACTOR: 0.652 (2017/2018)
Journal: 1995-Present




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