A Rao-Blackwellized particle filter for EigenTracking

TitleA Rao-Blackwellized particle filter for EigenTracking
Publication TypeConference Papers
Year of Publication2004
AuthorsKhan Z, Balch T, Dellaert F.
Conference NameProceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2004. CVPR 2004
Date Published2004/06//
Keywordsanalytically tractable integrals, Computer vision, EigenTracking, Filters, Gaussian processes, modal analysis, multi-modal distributions, NOISE, noisy targets, optimisation, optimization-based algorithms, Particle filters, Particle measurements, Particle tracking, Principal component analysis, probabilistic principal component analysis, Rao-Blackwellized particle filter, Robustness, SHAPE, State estimation, state vector, subspace coefficients, Subspace representations, target tracking, vectors

Subspace representations have been a popular way to model appearance in computer vision. In Jepson and Black's influential paper on EigenTracking, they were successfully applied in tracking. For noisy targets, optimization-based algorithms (including EigenTracking) often fail catastrophically after losing track. Particle filters have recently emerged as a robust method for tracking in the presence of multi-modal distributions. To use subspace representations in a particle filter, the number of samples increases exponentially as the state vector includes the subspace coefficients. We introduce an efficient method for using subspace representations in a particle filter by applying Rao-Blackwellization to integrate out the subspace coefficients in the state vector. Fewer samples are needed since part of the posterior over the state vector is analytically calculated. We use probabilistic principal component analysis to obtain analytically tractable integrals. We show experimental results in a scenario in which we track a target in clutter.