Target Tracking Based on Particle Filter with Multi-Path Particles

Abstract

Visual tracking is a key issue for autonomous navigation, intelligent monitoring system and so on. While a Particle Filter for tracking is designed, the target in image may be out of range, and the tracked target will be lost since the target image size keeps changing. A method for tracking a mobile target with visual image, Particle Filter with multi-path particles (PFWMP), is proposed to solve the above problem in this paper. Here, the method is based on the wavelet transform incorporated in traditional Particle Filter, and particles are made to move in original image and the image processed by wavelet transform. The results show that the improved approach using multiple particles can enhance the robustness of tracking algorithm and improve tracking accuracy.