Influence of zoom selection on a Kalman filter
Date
2008
Authors
Sommerlade, E.
Reid, I.
Editors
Chatila, R.
Kelly, A.
Merlet, J.P.
Kelly, A.
Merlet, J.P.
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Conference paper
Citation
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, (IROS 2008) / pp.2565-2571
Statement of Responsibility
Eric Sommerlade and Ian Reid
Conference Name
IEEE/RSJ International Conference on Intelligent Robots and Systems (2008 : Nice, France)
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.
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©2008 IEEE