@article {18828,
	title = {Developing a Stochastic Dynamic Programming Framework for Optical Tweezer-Based Automated Particle Transport Operations},
	journal = {Automation Science and Engineering, IEEE Transactions on},
	volume = {7},
	year = {2010},
	month = {2010/04//},
	pages = {218 - 227},
	abstract = {Automated particle transport using optical tweezers requires the use of motion planning to move the particle while avoiding collisions with randomly moving obstacles. This paper describes a stochastic dynamic programming based motion planning framework developed by modifying the discrete version of an infinite-horizon partially observable Markov decision process algorithm. Sample trajectories generated by this algorithm are presented to highlight effectiveness in crowded scenes and flexibility. The algorithm is tested using silica beads in a holographic tweezer set-up and data obtained from the physical experiments are reported to validate various aspects of the planning simulation framework. This framework is then used to evaluate the performance of the algorithm under a variety of operating conditions.},
	keywords = {holographic tweezer set-up, holography, infinite-horizon partially observable Markov decision process algorithm, Markov processes, motion planning framework, optical tweezer-based automated particle transport operations, optical tweezers, radiation pressure, silica beads, stochastic dynamic programming framework, stochastic programming},
	isbn = {1545-5955},
	doi = {10.1109/TASE.2009.2026056},
	author = {Banerjee,A. G. and Pomerance,A. and Losert,W. and Gupta,S.K.}
}
@article {12476,
	title = {Online Empirical Evaluation of Tracking Algorithms},
	journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
	volume = {32},
	year = {2010},
	month = {2010/08//},
	pages = {1443 - 1458},
	abstract = {Evaluation of tracking algorithms in the absence of ground truth is a challenging problem. There exist a variety of approaches for this problem, ranging from formal model validation techniques to heuristics that look for mismatches between track properties and the observed data. However, few of these methods scale up to the task of visual tracking, where the models are usually nonlinear and complex and typically lie in a high-dimensional space. Further, scenarios that cause track failures and/or poor tracking performance are also quite diverse for the visual tracking problem. In this paper, we propose an online performance evaluation strategy for tracking systems based on particle filters using a time-reversed Markov chain. The key intuition of our proposed methodology relies on the time-reversible nature of physical motion exhibited by most objects, which in turn should be possessed by a good tracker. In the presence of tracking failures due to occlusion, low SNR, or modeling errors, this reversible nature of the tracker is violated. We use this property for detection of track failures. To evaluate the performance of the tracker at time instant t, we use the posterior of the tracking algorithm to initialize a time-reversed Markov chain. We compute the posterior density of track parameters at the starting time t = 0 by filtering back in time to the initial time instant. The distance between the posterior density of the time-reversed chain (at t = 0) and the prior density used to initialize the tracking algorithm forms the decision statistic for evaluation. It is observed that when the data are generated by the underlying models, the decision statistic takes a low value. We provide a thorough experimental analysis of the evaluation methodology. Specifically, we demonstrate the effectiveness of our approach for tackling common challenges such as occlusion, pose, and illumination changes and provide the Receiver Operating Characteristic (ROC) curves. Finally, we also s how the applicability of the core ideas of the paper to other tracking algorithms such as the Kanade-Lucas-Tomasi (KLT) feature tracker and the mean-shift tracker.},
	keywords = {Back, Biomedical imaging, Computer vision, Filtering, formal model validation techniques, formal verification, ground truth, Kanade Lucas Tomasi feature tracker, Karhunen-Loeve transforms, lighting, Markov processes, mean shift tracker, model validation., online empirical evaluation, particle filtering (numerical methods), Particle filters, Particle tracking, performance evaluation, receiver operating characteristic curves, Robustness, SNR, Statistics, Surveillance, time reversed Markov chain, tracking, tracking algorithms, visual tracking},
	isbn = {0162-8828},
	doi = {10.1109/TPAMI.2009.135},
	author = {Wu,Hao and Sankaranarayanan,A. C and Chellapa, Rama}
}
@conference {13364,
	title = {Ef?cient Query Evaluation over Temporally Correlated Probabilistic Streams},
	booktitle = {IEEE 25th International Conference on Data Engineering, 2009. ICDE {\textquoteright}09},
	year = {2009},
	month = {2009/04/29/March},
	pages = {1315 - 1318},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {In this paper, we address the problem of efficient query evaluation over highly correlated probabilistic streams. We observe that although probabilistic streams tend to be strongly correlated in space and time, the correlations are usually quite structured (i.e., the same set of dependencies and independences repeat across time) and Markovian (i.e., the state at time "t+1" is independent of the states at previous times given the state at time "t"). We exploit this observation to compactly encode probabilistic streams by decoupling the correlation structure (the set of dependencies) from the actual probability values. We develop novel stream processing operators that can efficiently and incrementally process new data items; our operators are based on the previously proposed framework of viewing probabilistic query evaluation as inference over probabilistic graphical models (PGMs) [P. Sen and A. Deshpande, 2007]. We develop a query planning algorithm that constructs efficient query plans that are executable in polynomial-time whenever possible, and we characterize queries for which such plans are not possible. Finally we conduct an extensive experimental evaluation that illustrates the advantages of exploiting the structured nature of correlations in probabilistic streams.},
	keywords = {Birds, Computerized monitoring, correlated probabilistic streams, correlation structure, Data engineering, data mining, Databases, Event detection, Graphical models, inference mechanisms, Markov processes, polynomial time, probabilistic database, probabilistic graphical model, probabilistic query evaluation, query evaluation, query planning algorithm, query plans, Query processing, Random variables, stream processing operator, Streaming media},
	isbn = {978-1-4244-3422-0},
	doi = {10.1109/ICDE.2009.229},
	author = {Kanagal,B. and Deshpande, Amol}
}
@article {19662,
	title = {MCMC Data Association and Sparse Factorization Updating for Real Time Multitarget Tracking with Merged and Multiple Measurements},
	journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
	volume = {28},
	year = {2006},
	month = {2006/12//},
	pages = {1960 - 1972},
	abstract = {In several multitarget tracking applications, a target may return more than one measurement per target and interacting targets may return multiple merged measurements between targets. Existing algorithms for tracking and data association, initially applied to radar tracking, do not adequately address these types of measurements. Here, we introduce a probabilistic model for interacting targets that addresses both types of measurements simultaneously. We provide an algorithm for approximate inference in this model using a Markov chain Monte Carlo (MCMC)-based auxiliary variable particle filter. We Rao-Blackwellize the Markov chain to eliminate sampling over the continuous state space of the targets. A major contribution of this work is the use of sparse least squares updating and downdating techniques, which significantly reduce the computational cost per iteration of the Markov chain. Also, when combined with a simple heuristic, they enable the algorithm to correctly focus computation on interacting targets. We include experimental results on a challenging simulation sequence. We test the accuracy of the algorithm using two sensor modalities, video, and laser range data. We also show the algorithm exhibits real time performance on a conventional PC},
	keywords = {algorithms, approximate inference, Artificial intelligence, auxiliary variable particle filter, Computational efficiency, continuous state space, downdating, Image Enhancement, Image Interpretation, Computer-Assisted, Inference algorithms, Information Storage and Retrieval, laser range scanner, laser range scanner., Least squares approximation, least squares approximations, Least squares methods, linear least squares, Markov chain Monte Carlo, Markov processes, MCMC data association, merged measurements, Monte Carlo methods, Movement, multiple merged measurements, multitarget tracking, particle filter, particle filtering (numerical methods), Particle filters, Pattern Recognition, Automated, probabilistic model, QR factorization, Radar tracking, Rao-Blackwellized, real time multitarget tracking, Reproducibility of results, Sampling methods, Sensitivity and Specificity, sensor fusion, sparse factorization updating, sparse least squares, State-space methods, Subtraction Technique, target tracking, updating},
	isbn = {0162-8828},
	author = {Zia Khan and Balch, T. and Dellaert, F.}
}
@article {19663,
	title = {MCMC-based particle filtering for tracking a variable number of interacting targets},
	journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
	volume = {27},
	year = {2005},
	month = {2005/11//},
	pages = {1805 - 1819},
	abstract = {We describe a particle filter that effectively deals with interacting targets, targets that are influenced by the proximity and/or behavior of other targets. The particle filter includes a Markov random field (MRF) motion prior that helps maintain the identity of targets throughout an interaction, significantly reducing tracker failures. We show that this MRF prior can be easily implemented by including an additional interaction factor in the importance weights of the particle filter. However, the computational requirements of the resulting multitarget filter render it unusable for large numbers of targets. Consequently, we replace the traditional importance sampling step in the particle filter with a novel Markov chain Monte Carlo (MCMC) sampling step to obtain a more efficient MCMC-based multitarget filter. We also show how to extend this MCMC-based filter to address a variable number of interacting targets. Finally, we present both qualitative and quantitative experimental results, demonstrating that the resulting particle filters deal efficiently and effectively with complicated target interactions.},
	keywords = {algorithms, Animals, Artificial intelligence, Computer simulation, Computer vision, Filtering, filtering theory, HUMANS, Image Enhancement, Image Interpretation, Computer-Assisted, Index Terms- Particle filters, Information Storage and Retrieval, Insects, interacting targets, Markov chain Monte Carlo sampling step, Markov chain Monte Carlo., Markov chains, Markov processes, Markov random field motion, Markov random fields, Models, Biological, Models, Statistical, Monte Carlo Method, Monte Carlo methods, MOTION, Movement, multitarget filter, multitarget tracking, particle filtering, Particle filters, Particle tracking, Pattern Recognition, Automated, Sampling methods, Subtraction Technique, target tracking, Video Recording},
	isbn = {0162-8828},
	author = {Zia Khan and Balch, T. and Dellaert, F.}
}
@conference {19665,
	title = {Multitarget tracking with split and merged measurements},
	booktitle = {IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2005. CVPR 2005},
	volume = {1},
	year = {2005},
	month = {2005/06//},
	pages = {605 - 610 vol. 1},
	abstract = {In many multitarget tracking applications in computer vision, a detection algorithm provides locations of potential targets. Subsequently, the measurements are associated with previously estimated target trajectories in a data association step. The output of the detector is often imperfect and the detection data may include multiple, split measurements from a single target or a single merged measurement from several targets. To address this problem, we introduce a multiple hypothesis tracker for interacting targets that generate split and merged measurements. The tracker is based on an efficient Markov chain Monte Carlo (MCMC) based auxiliary variable particle filter. The particle filter is Rao-Blackwellized such that the continuous target state parameters are estimated analytically, and an MCMC sampler generates samples from the large discrete space of data associations. In addition, we include experimental results in a scenario where we track several interacting targets that generate these split and merged measurements.},
	keywords = {Application software, Computer vision, Detection algorithms, Detectors, filtering theory, Markov chain Monte Carlo based auxiliary variable particle filter, Markov processes, merged measurements, Monte Carlo methods, multiple hypothesis tracker, multitarget tracking, parameter estimation, Particle filters, Particle tracking, Rao-Blackwellized filter, split measurements, target tracking, Trajectory},
	author = {Zia Khan and Balch, T. and Dellaert, F.}
}
@conference {19659,
	title = {Efficient particle filter-based tracking of multiple interacting targets using an MRF-based motion model},
	booktitle = {2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings},
	volume = {1},
	year = {2003},
	month = {2003/10//},
	pages = {254 - 259 vol.1},
	abstract = {We describe a multiple hypothesis particle filter for tracking targets that are influenced by the proximity and/or behavior of other targets. Our contribution is to show how a Markov random field motion prior, built on the fly at each time step, can model these interactions to enable more accurate tracking. We present results for a social insect tracking application, where we model the domain knowledge that two targets cannot occupy the same space, and targets actively avoid collisions. We show that using this model improves track quality and efficiency. Unfortunately, the joint particle tracker we propose suffers from exponential complexity in the number of tracked targets. An approximation to the joint filter, however, consisting of multiple nearly independent particle filters can provide similar track quality at substantially lower computational cost.},
	keywords = {collision avoidance, computational cost, Computational efficiency, Educational institutions, exponential complexity, Filtering, filtering theory, Insects, joint particle tracker, Markov processes, Markov random field motion, Markov random fields, multiple interacting targets, particle filter-based tracking, Particle filters, Particle tracking, Radar tracking, social insect tracking application, target tracking, Trajectory},
	author = {Zia Khan and Balch, T. and Dellaert, F.}
}
