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Proceedings Paper

Feature point tracking combining the Interacting Multiple Model filter and an efficient assignment algorithm
Author(s): David Marimon; Yousri Abdeljaoued; Bruno Palacios; Touradj Ebrahimi
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Paper Abstract

An algorithm for feature point tracking is proposed. The Interacting Multiple Model (IMM) filter is used to estimate the state of a feature point. The problem of data association, i.e. establishing which feature point to use in the state estimator, is solved by an assignment algorithm. A track management method is also developed. In particular a track continuation method and a track quality indicator are presented. The evaluation of the tracking system on real sequences shows that the IMM filter combined with the assignment algorithm outperforms the Kalman filter, used with the Nearest Neighbour (NN) filter, in terms of data association performance and robustness to sudden feature point manoeuvre.

Paper Details

Date Published: 29 January 2007
PDF: 8 pages
Proc. SPIE 6508, Visual Communications and Image Processing 2007, 650808 (29 January 2007); doi: 10.1117/12.702800
Show Author Affiliations
David Marimon, Swiss Federal Institute of Technology (Switzerland)
Yousri Abdeljaoued, Swiss Federal Institute of Technology (Switzerland)
Bruno Palacios, Swiss Federal Institute of Technology (Switzerland)
Touradj Ebrahimi, Swiss Federal Institute of Technology (Switzerland)


Published in SPIE Proceedings Vol. 6508:
Visual Communications and Image Processing 2007
Chang Wen Chen; Dan Schonfeld; Jiebo Luo, Editor(s)

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