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Target Tracking a Non-Linear Target Path Using Kalman Predictive Algorithm and Maximum Likelihood Estimation by James Dennis Musick
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Agenda Introduction Problem Definition Kalman Filter Target Discrimination Conclusion Future Work
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Introduction In the field of biomechanical research there is a subcategory that studies human movement or activity by video-based analysis Markers used –Optical –RF –Passive reflective –Etc… Video based motion analysis 2D Analysis 3D analysis Golf swing example
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Problem Definition In order to track the following have to be accomplished –Path Prediction –Discrimination
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Problem Definition cont. Trials used –Walking Trial –Jumping Trial –Waving Wand Trial –Increasing complexity
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Video Target Identification Threshold
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Target Algorithm Uncertainty Measurement Uncertainty Correct (3.5,4)Correct (3.5,3) Blue missing (3.5,4)Red missing (3.8,3.17) Red missing (3.64, 4.21)
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Kalman Filter Introduction –State Space representation
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Kalman Filter cont.
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Kalman Filter cont
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Target Models: –Noisy Acceleration model
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Kalman Filter cont Target Models: –Noisy Jerk model
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Kalman Filter cont Selection of update time: T = 1
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Kalman Filter cont b
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Kalman Filter Noisy Acceleration Operation of the Kalman Filter
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Kalman Filter Noisy Acceleration Operation of the Kalman Filter
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Kalman Filter Noisy Acceleration Operation of the Kalman Filter
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Kalman Filter Noisy Jerk Operation of the Kalman Filter
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Kalman Filter Noisy Jerk Operation of the Kalman Filter
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Kalman Filter Noisy Jerk Operation of the Kalman Filter
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Kalman Filter Occluded targets
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Target Discrimination Introduction –Goal
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Target Discrimination Example
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Target Discrimination Example cont
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Target Discrimination Operation of algorithm
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Target Discrimination Operation of algorithm cont
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Target Discrimination Operation of algorithm cont Jumping Trial
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Target Discrimination Operation of algorithm cont
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Conclusion Kalman filter –Model Discrimination
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Future Work Hardware implementation 3D application Other biomechanical target discrimination (segmentation, etc.) Other tracking application (space, robotics, etc.)
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