Using the condensation algorithm to implement tracking for mobile robots
作者： E.B. Meier , F. Ade
DOI: 10.1109/EURBOT.1999.827624
关键词:
摘要: The detection of objects in every frame a sequence is often not sufficient for scene interpretation. Tracking can increase the robustness, especially when occlusions occur or temporally disappear. standard approach tracking to use Kalman filter object. This, however requires high complexity management system deal with multiple hypotheses necessary track all anticipated objects. We present stochastic which based on CONDENSATION algorithm-conditional density propagation over time-that capable range images. A probability function describing likely state propagated time using dynamic model. measurements influence and allow incorporation new into scheme. Additionally, representation fixed number samples ensures constant running per iteration step. Results different data sources are shown mobile robot applications.
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