Sensitivity to Noise in Particle Filters for 2-d Tracking Algorithms
نویسندگان
چکیده
A particle filter algorithm was used to simulate a Remotely Operated underwater Vehicle (ROV) tracking a moving target in 2-D space. The simulation modeled the behavior of a Sea Perch ROV modified with mounted cameras to perform blob-tracking on the target. Thirteen different noise levels were sampled for both distance and angle, with 100 trials per noise level. The angular noise demonstrated an exponential effect on the performance of the particle filter algorithm, while distance noise had minimal impact on the accuracy of the tracking.
منابع مشابه
Improving the Performance of ICA Algorithm for fMRI Simulated Data Analysis Using Temporal and Spatial Filters in the Preprocessing Phase
Introduction: The accuracy of analyzing Functional MRI (fMRI) data is usually decreases in the presence of noise and artifact sources. A common solution in for analyzing fMRI data having high noise is to use suitable preprocessing methods with the aim of data denoising. Some effects of preprocessing methods on the parametric methods such as general linear model (GLM) have previously been evalua...
متن کاملBiomedical Image Denoising Based on Hybrid Optimization Algorithm and Sequential Filters
Background: Nowadays, image de-noising plays a very important role in medical analysis applications and pre-processing step. Many filters were designed for image processing, assuming a specific noise distribution, so the images which are acquired by different medical imaging modalities must be out of the noise. Objectives: This study has focused on the sequence filters which are selected ...
متن کاملUnscented Auxiliary Particle Filter Implementation of the Cardinalized Probability Hypothesis Density Filters
The probability hypothesis density (PHD) filter suffers from lack of precise estimation of the expected number of targets. The Cardinalized PHD (CPHD) recursion, as a generalization of the PHD recursion, remedies this flaw and simultaneously propagates the intensity function and the posterior cardinality distribution. While there are a few new approaches to enhance the Sequential Monte Carlo (S...
متن کاملReal-time Motion Tracking from a Mobile Robot
A mobile robot needs to perceive the motions of external objects to perform tasks successfully in a dynamic environment. We propose a set of algorithms for multiple motion tracking from a mobile robot equipped with a monocular camera and a laser rangefinder. The key challenges are 1. to compensate the ego-motion of the robot for external motion detection, and 2. to cope with transient and struc...
متن کاملPerformance Analysis of Kalman-based Filters and Particle Filters for Non-linear/non-gaussian Bayesian Tracking
In this paper, we present an overview performance analysis of Kalmanbased filters and particle filters for Non-Linear/Non-Gaussian Bayesian tracking. The simulation results show that the particle filters have superior performance than the Kalman-based filters. Although the particle filters are time consuming, but in many situations such as the low data rate, low signal-to-noise ratio situations...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2013