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| HAL : hal-00421055, version 1 |
| Fiche détaillée |  Récupérer au format |
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| IEEE International Conference on Image Processing, France (2009) |
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| M2SIR : A multi modal sequential importance resampling algorithm for particle filters |
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| Yann Goyat 1Thierry Chateau 2 |
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| (07/11/2009) |
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| We present a multi modal sequential importance resampling particle filter algorithm for object tracking. We consider a hidden state sequence linked to several observation sequences given by different sensors. In a particle filter based framework, each sensor provides a likelihood (weight) associated to each particle and simple rules are applied to merge the different weights such as addition or product. We propose an original algorithm based on likelihood ratios to merge the observations within the sampling step. The algorithm is compared with classic fusion operations on toy examples. Moreover, we show that the method gives satisfactory results on a real vehicle tracking application. |
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| 1 : | Division Entretien, Sécurité et Acoustique des Routes (LCPC/ESAR) |
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LCPC – PRES Université Nantes Angers Le Mans (UNAM) |
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| 2 : | Laboratoire des sciences et matériaux pour l'électronique et d'automatique (LASMEA) |
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CNRS : UMR6602 – Université Blaise Pascal - Clermont-Ferrand II |
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| Domaine | : | Sciences de l'ingénieur/Traitement du signal et de l'image Informatique/Traitement du signal et de l'image |
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| TRAITEMENT DES DONNEES – TRAITEMENT DES IMAGES – ALGORITHME |
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| hal-00421055, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00421055 | |
| oai:hal.archives-ouvertes.fr:hal-00421055 | |
| Contributeur : Lcpc Cadic | |
| Déposé pour le compte de : | |
| Soumis le : Mercredi 30 Septembre 2009, 14:49:46 | |
| Dernière modification le : Mercredi 30 Septembre 2009, 14:49:46 | |
