Questions tagged [tracking]
The tracking tag has no usage guidance.
53
questions
17
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4
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Intuitive explanation of tracking with Kalman filters
I would much appreciate an intuitive explanation for (visual) tracking with Kalman filters.
what I know:
Prediction step:
Dynamic system state $\mathbf x_t$: target location at time $t$
Measurement $...
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14
votes
1
answer
38k
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Kalman filter - understanding the noise covariance matrix
What is the significance of the noise covariance matrices in the Kalman Filter framework?
I am referring to:
process noise covariance matrix Q, and
measurement noise covariance matrix R
at any ...
- 285
9
votes
1
answer
13k
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3D Position estimation using 2D camera
I have a camera (iPhone), I have a 3D control object in the image that I know its properties very well. (My control object). There is also a secondary object in motion. The ultimate goal is to ...
- 806
9
votes
1
answer
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Estimate and Track the Amplitude, Frequency and Phase of a Sine Signal Using a Kalman Filter
There is sinusoidally controlled signal, which other than being noisy, can change values for amplitude, frequency, phase and offset. At every new sample a new sine is fitted for the last N samples. ...
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8
votes
4
answers
1k
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Preprocessing to improve Harris corner tracking between video frames?
In our unmanned aerial vehicle grayscale video image stabilization application, we're having difficulty finding the "good" Harris corners in frame N+1 selected from frame N. The source of the ...
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7
votes
1
answer
2k
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Is it possible to do single vehicle tracking using Fourier transform?
I am working on a project in image processing which is based on importance of phase only reconstruction of a signal obtained using Fourier transform.For more information about phase only ...
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6
votes
2
answers
234
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How Are Unmeasured Properties (Velocity and Covariance of Velocity) Handled with a Kalman Filter?
I'm trying to understand how I can update a Kalman filter with a state variable for position and velocity when I only measure position. I have a covariance matrix of the position measurements. But ...
- 265
6
votes
1
answer
163
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IMU Speed Tracking Through Known Path
I am new to signal processing and Kalman Filtering here. Thanks for your help.
I working with an IMU for a tracking project where the IMU moves throw a known path but at an unknown speed (within ...
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5
votes
2
answers
227
views
Kalman Filter Motion model with moving sensors
Suppose I have an object that I am tracking with moving sensors using a basic Kalman Filter (for example, think of a ship being tracked by satellites). In the simplest case where the sensors are ...
- 51
5
votes
1
answer
7k
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Using the Kalman filter given acceleration to estimate position and velocity
Note : port from this post, until fully merged.
I am reading data from an accelerometer. I want to use this data to estimate velocity and position. Originally, I performed a double integration of ...
- 273
4
votes
2
answers
3k
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Kalman Filter for estimating position with nonconstant velocity & acceleration
I am trying to estimate the position & head direction of a rodent going through a 2D environment (a circular surface of 1m radius). Above his head is an overhead camera which records 4 LEDs ...
- 331
3
votes
2
answers
170
views
object level sensor fusion for multiobject tracking
I want to fuse objects coming from several sensors, with different (sometimes overlapping!) fields of view. Having object lists, how can I determine whether some objects observed by different sensors ...
- 161
3
votes
2
answers
2k
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How to reliably detect the state (opened or closed) of sliding doors from a statically-positioned video stream
I have a mounted (static) camera that has a view of a set of sliding doors. Since doors are rectangular in nature, and they don't have many degrees of freedom, this seems like a problem that should ...
- 131
3
votes
0
answers
73
views
State estimation in HyperSonic Missiles
I'm curious, what would be the correct approach for state estimation for hypersonic Missiles?
Would it be exclusively GPS and IMU? Historically these are what was used, but I have also seen ground ...
- 858
2
votes
2
answers
287
views
Situations where complexity is too big to exceed linearity and gaussianity
I'm studing about Kalman Filter and Particle Filter in multiple target tracking in computer vision (tracking pedestrians). Reading sientific papers I'm colliding with a lot of sentences like:
The ...
- 924
2
votes
1
answer
338
views
Transfer function of a PLL Loop Filter that can support a linearly increasing (chirping) frequency
What is a transfer function for a the loop filter of a PLL that can track a sinusoid of the form:
\begin{equation}
x(t)=\cos\left(2\pi\left(\frac{1}{2}c_0t^2 + f_0t + \phi_0\right)\right)
\end{...
- 125
2
votes
2
answers
246
views
How to choose the "best" measurment (from a given set) as input for a kalman filter?
Problem:
For an object tracking scenario with multiple objects and multiple tracks, I want to choose the "best" assignment object<->track. Therefore, I need a parameter indicating how suitable an ...
- 112
2
votes
1
answer
2k
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What does "kernel based" mean?
In my thesis I try to explain what kernel based methods are, especially the meaning for object detection.
I know kernel based methods like Mean- and CamShift and I know how to use them. I understand ...
- 123
2
votes
1
answer
141
views
Detecting & tracking an arbitrary object in a video
I have a video from a fixed (stationary) camera. Sometimes there are slight movements in the frames (e.g. tree moving a bit in the wind). Other times, some might walk into the view of the camera, a ...
- 121
2
votes
1
answer
382
views
GPS signal tracking
I have a complex input signal of 300 ms at baseband. I have already performed acquisition on this signal and acquired four GPS satellites and have the code phase and Doppler frequency of each of them. ...
- 29
2
votes
2
answers
1k
views
Structuring Kalman filter for tracking problem where only position is known
I'm new to Kalman filters and my extensive web search about them has helped me understand the majority of it (or so I think). However I still need some light shed on my problem formulation.
I have a ...
- 21
2
votes
1
answer
180
views
Histogram operation for improving visual object tracking
I'm developping a people tracking with nearest neighbour data association technique and kalman filter for smoothing/predicting.
The tracker works quite good but sometimes it mismatch objects if they ...
- 924
2
votes
1
answer
1k
views
How to get more accurate results with OpenCV
I would like to ask about this function in OpenCV:
cvTermCriteria( CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, .3 )
How do I get more accurate results - do I need ...
- 43
2
votes
0
answers
182
views
How Do Particle Filters Get Velocity When Tracking with Pos Measurements
I am new to particle filtering.
I can see when particle filters are used with Ensemble Kalman's, the velocity of the states are taken care of by the Kalman.
When tracking using particle filters ...
- 21
2
votes
0
answers
294
views
How does a Costas Loop lock to one of multiple BPSK signals
I've been looking into how GPS receivers work in terms of signal processing. When a GPS receiver tracks the received signal, it often uses a Costas loop to synchronize the carrier.
How that works ...
- 29
2
votes
0
answers
61
views
Mid-point of worm-like objects
I have a video of worm-like objects which move. They can move in a straight line, they can rotate in circles, they can move in a serpentine/winding/sinuous way. I need to track them.
I already have ...
- 123
2
votes
0
answers
549
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Extended Kalman Filter - how do I get transition functions
I am measuring position and velocity, both have some noise in them. Velocity is defined as derivative of position. The system is apparently non-linear so I need to use EKF.
Model:
\begin{align}
X&...
- 375
1
vote
1
answer
47
views
Friendly target identification in radar
How do radar systems identify friendly targets to avoid AA locks during combat scenarios?
Do friendly planes broadcast a known signal or is something else going on?
- 858
1
vote
1
answer
76
views
Taylor series expansion in mean shift tracking
I am trying to understand the first order Taylor series expansion when deriving the math behind mean shift tracking. Given the Battacharya coefficient between the target descriptor and candidate ...
- 303
1
vote
1
answer
101
views
What is the name for a constant-heading Kalman filter model for vehicle tracking?
When applying Kalman filtering to estimate the position of a car, there are several different vehicle dynamics models that you could use.
One of the simplest is "constant velocity" or CV, ...
- 131
1
vote
2
answers
98
views
Tracking unknown number of signals/coordinates
I have a time series data. Where for every time step I have a varying number of object coordinates. I want to track these over time. There might also be some missing coordinates for a few frames. ...
- 56
1
vote
1
answer
70
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Tracking a Predefined Curve in a Series of Images
I have a series of images. I want to be able to draw a curve on the image and track the curve in the series. For example, in the figure below, the left image illustrates the original image at time <...
- 142
1
vote
1
answer
56
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What's the best way of modeling 3d target motion with only 2d angle observations?
A maneuvering target is flying in 3d cartesian space, but a sensor (passive infrared or mic array, etc.) can only observe it in polar coordinate with 2d orientations
(azimuth, elevation). For ...
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1
vote
1
answer
60
views
Object Tracking with Improved Detector of Objects Similar to Target
I read this paper and need your help to understand it.
Object Tracking with Improved Detector of Objects Similar to Target
In paper, particle at the frame $t$ is represented by:
$$c^{(i)}_t(i=1,\...
1
vote
0
answers
203
views
What is the order of the output of HoughCircles in OpenCV, when having several circles on a frame?
So I am trying to use stereo vision to calculate the depth of several red balls. With the function HoughCircles, I get an output at one frame from one of the cameras like for example:
...
- 11
1
vote
0
answers
43
views
KLT tracker, reject tracked occluded points
I want to use KLT tracker for a visual odometry application. Thus, I only want to track object features. Currently I'm using OpenCV's implementation ...
- 11
1
vote
0
answers
90
views
Understanding performance of Lucas Kanade Iterative Image Registration Technique
I am reading the paper:
Lucas, B. D., & Kanade, T. (1981). An iterative image registration technique with an application to stereo vision.
I am having some trouble understanding section 4.3 ...
- 283
1
vote
0
answers
187
views
pre-processing to improve feature detector before tracking
I am trying to make tracking for soccer player, I need to detect features from this player and then estimate the distance difference of these pixels over number of frames.
first I have to detect the ...
- 181
1
vote
0
answers
39
views
Tracking Acquisition for Directed Scan
My problem: create a device that can take a scan of a target via a camera and a shooting rig (that I am building).
The camera is connected to a motor that rotates the camera, and this is connected to ...
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0
votes
1
answer
116
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Queries on Kalman Filter
I am trying to apply kalman filter for video processing , i am studying about it from different sources but it take me towards question that if i don't know that where my object come in frame mean i ...
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votes
1
answer
2k
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Tracking object that is missing in some frames
I am trying to track small object in videos using LK
but the problem is, some time the object does not appear in the frames !
How can I track an object that does not appear in few frames ??
how ...
- 43
0
votes
2
answers
123
views
GPS | Retain Signal Tracking after Noise Bound
I have an IF data, 2 seconds signal sample from only one GPS satellite, I know the PRN number of the satellite.
...
- 13
0
votes
1
answer
85
views
How is a Particle Filter used to Estimate Parameters of a State Transition Function?
In the tutorials on particle filters that I have seen, it seems that the state transition function is already known. This example from Matlab, for example, states the the Plant or State Transition ...
- 265
0
votes
1
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143
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Why is beamforming needed in 5G?
With the advent of 5G Era, base station density
increases, the cell radius decreases, and LOS propagation
gets more dominant. So, why do we need for beamforming in 5G NR, although we have smaller ...
- 3
0
votes
1
answer
309
views
Frequent update of the Kalman Filter covariance matrices
I have inherited some code that does vehicle localisation based on two main inputs: sensor input from the vehicle odometry and map localisation based on matching camera images to road features. Both ...
- 103
0
votes
2
answers
4k
views
Object detection in binary image
This task comes from tracking object on a steady background. So far I was able to remove the background and obtain binary masks like this:
I need to get bounding rectangle of the toy without the ...
- 21
0
votes
1
answer
141
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How to tune PID parameters to track a family of reference signals?
I have a system that is controlled by a PID controller. I tune the controller to track a reference signal that is a unit step function.
Is there a way to extend the obtained results to be able to ...
- 145
0
votes
0
answers
25
views
How to correct for "track jumping" for multi-lined time series
I am creating an algorithm that tries to estimate three time-series that should not cross each other (voice formants). The problem is sometimes the algorithm mistakes one time series with another and ...
- 133
0
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0
answers
18
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Tracking a signal
I have two signals representing steering wheel angles, one representing the driver’s inputs (red), while the other one represents the system’s reference signal (blue).
I want to estimate in real time ...
- 1
0
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0
answers
45
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Is my Kalman Filter model reasonable? Using for a 3 wheels rover platform
Background: I'm building a 3 omniwheel rover platform that looks something like this:
It has 1 IMU sensors on each of the wheels (3 in total). So in theory, I can get gyroscope and accelerometer data ...
- 161