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https://hdl.handle.net/2440/84301
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Type: | Conference paper |
Title: | Influence of zoom selection on a Kalman filter |
Author: | Sommerlade, E. Reid, I. |
Citation: | IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, (IROS 2008) / pp.2565-2571 |
Publisher: | IEEE |
Publisher Place: | USA |
Issue Date: | 2008 |
ISBN: | 9781424420575 |
Conference Name: | IEEE/RSJ International Conference on Intelligent Robots and Systems (2008 : Nice, France) |
Editor: | Chatila, R. Kelly, A. Merlet, J.P. |
Statement of Responsibility: | Eric Sommerlade and Ian Reid |
Abstract: | The use of a single camera with a zoom lens for tracking involves a continuous arbitration of accuracy vs. reliability. We address this problem with an information-theoretic approach, where we extend zoom selection based on conditional entropy by incorporating the fixation errors into the observation likelihood. We present a thorough analysis of previous approaches, revealing zoom and speed limits, especially how the ratio of process to measurement noise effectively limits the maximally usable zoom for any system tracking with a Kalman filter. This work finally presents means to circumvent aforementioned limitations. |
Rights: | ©2008 IEEE |
DOI: | 10.1109/IROS.2008.4651096 |
Published version: | http://dx.doi.org/10.1109/iros.2008.4651096 |
Appears in Collections: | Aurora harvest 4 Computer Science publications |
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