I am trying to implement particle filter to track a car bounded by a box.
First i used color histogram as my likelihood function and implemented PF, where i was using the bhattacharya distance to get weights.
Later I used motion technique, In which i am subtracting the consecutive images, and then finding the contour in the image, which will be the object to be tracked(Camera is static), and I am using the gaussian distribution as the likelihood function to get weights and I have applied PF to it. Now I want to fuse both the techniques in one and use Particle filter .
How can i do it? I tried to search online, But I couldn't find any nice explanation or material.