Tracking efficiency measurement of dynamic models on geometric particle filter using KLD-resampling

Alexander A.S. Gunawan, Wisnu Jatmiko, Vektor Dewanto, F. Rachmadi, F. Jovan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Citations (Scopus)

Abstract

Particle filter has appeared as a useful tool for visual object tracking. The efficiency of the particle filter depends mostly on the number of particles used in the estimation. This paper would like to measure the efficiency of particle filter via the Kullback-Leibler distance (KLD). The basis of the method is similar to Fox's KLD-sampling but implemented differently using resampling. The benefit of this approach is that the underlying distribution is exactly the posterior distribution. By means of batch KLD-resampling, we measure the efficiency of several dynamic models by calculating the average number of needed samples. Using experiments, we found (i) the efficiency of particle filter can be measure reliably enough using batch KLD-resampling, (ii) dynamics models affect the efficiency of particle filter, but their performance depends mostly on the case by case situationally.

Original languageEnglish
Title of host publicationProceedings - ICACSIS 2014
Subtitle of host publication2014 International Conference on Advanced Computer Science and Information Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages385-388
Number of pages4
ISBN (Electronic)9781479980758
DOIs
Publication statusPublished - 23 Mar 2014
Event2014 International Conference on Advanced Computer Science and Information Systems, ICACSIS 2014 - Jakarta, Indonesia
Duration: 18 Oct 201419 Oct 2014

Publication series

NameProceedings - ICACSIS 2014: 2014 International Conference on Advanced Computer Science and Information Systems

Conference

Conference2014 International Conference on Advanced Computer Science and Information Systems, ICACSIS 2014
Country/TerritoryIndonesia
CityJakarta
Period18/10/1419/10/14

Fingerprint

Dive into the research topics of 'Tracking efficiency measurement of dynamic models on geometric particle filter using KLD-resampling'. Together they form a unique fingerprint.

Cite this