Enhanced Importance Sampling: Unscented Auxiliary Particle Filtering for Visual Tracking

Abstract. The particle filter has attracted considerable attention in visual tracking due to its relaxation of the linear and Gaussian restrictions in the state space model. It is thus more flexible than the Kalman filter. However, the conventional particle filter uses system transition as the proposal distribution, leading to poor sampling efficiency and poor performance in visual tracking. It is not a trivial task to design satisfactory proposal distributions for the particle filter. In this paper, we introduce an improved particle filtering framework into visual tracking, which combines the unscented Kalman filter and the auxiliary particle filter. The efficient unscented auxiliary particle filter (UAPF) uses the unscented transformation to predict one-step ahead likelihood and produces more reasonable proposal distributions, thus reducing the number of particles required and substantially improving the tracking performance. Experiments on real video sequences demonstrate t...

• Type: Conference
• Year: 2004
• Where: AUSAI
• Authors: Chunhua Shen, Anton van den Hengel, Anthony R. Dick, Michael J. Brooks
• Keywords: Artificial Intelligence, AUSAI 2004, Auxiliary Particle filter, Conventional Particle filter, Particle filter