Human body tracking has received increasing attention in recent years due to its broad applicability. Among these tracking algorithms, the particle filter is considered an effective approach for human motion tracking. However, it suffers from the degeneracy problem and considerable computational burden. This paper presents a novel 3D model-based tracking algorithm called the progressive particl...

This paper considers a robust strong tracking nonlinear filtering problem in the case there are model uncertainties including the model mismatch, unknown disturbance and status mutation in the spacecraft attitude estimation system with quaternion constraint. Two multiple fading factor matrices are employed to regulate the prediction error covariance matrix, which guarantees its symmetry. The sp...

In this master thesis, the problem of tracking groups using an image sequence dataset is examined. Target tracking can be defined as the problem of estimating a target’s state given prior knowledge about its motion and some sensor measurements related to the target’s state. A popular method for target tracking is e.g. the Kalman filter. However, the Kalman filter is insufficient when there are ...

In this work, we address the problem of tracking an acoustic source based on measured time differences of arrival (TDOA). The classical solution to this problem consists in using a detector, which estimates the TDOA for each microphone pair, and then applying a tracking algorithm, which integrates the “measured” TDOAs in time. Such a two-stage approach presumes 1) that TDOAs can reliably be est...

Absolute adaptive current statistical (AACS) model and modified strong tracking unscented filter (MSTUF) are proposed for maneuvering target tracking (MTT) under nonlinear measurement in this paper. The key point of the AACS model is to associate the instantaneous acceleration variance with some elements of state covariance matrix by constructing acceleration increment models of the acceleratio...

In modern systems for air surveillance, it is important to have a high quality situation assessment. SAAB has a system for air surveillance, and in this thesis possible improvements of the tracking performance of this system are explored. The focus has been on improving the tracking of highly maneuverable targets observed with low sampling rate. To evaluate improvements of the tracking performa...

This article presents a novel approach for a real-time person tracking system based on particle filters that use different visual streams. Due to the difficulty of detecting a person from a top view, a new architecture is presented that integrates different vision streams by means of a Sigma-Pi network. A short-term memory mechanism enhances the tracking robustness. Experimental results show th...