Dynamic View Planning by Effective Particles for Three-Dimensional Tracking

Huiying Chen, Youfu Li
2009 IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)  
In this paper, we propose a new approach to dynamically manage the viewpoint of a vision system for optimal 3-D tracking using particle techniques. We adopt the effective sample size in the proposed particle filter as a criterion for evaluating tracking performance and employ it to guide the view-planning process for finding the best viewpoint configuration. In our approach, the vision system is designed and configured to achieve the largest number of effective particles, which minimizes
more » ... g error by revealing the system to a better swarm of importance samples and interpreting posterior states in a better way. Superiorities of our method are shown by comparison with the resampling particle filter and other view-planning methods. Index Terms-Best viewpoint configuration, dynamic view planning, effective sample size, particle filter, 3-D tracking. . Her research interests include robot vision, visual tracking, and dynamic view planning. Youfu Li (S'91-M'92-A'95-SM'01) received the B.S. and M.S. degrees in electrical engineering from Harbin Institute of Technology, Harbin, China, and the Ph.D. degree from the
doi:10.1109/tsmcb.2008.2005113 pmid:19068437 fatcat:rv76mxiytfbbjcdpinwts64lsm