| Presentation | 2006-03-15 Adaptive Mixing of Proposal Distributions of Hierarchical Particle Filtering and its Application to Real-time Pose Estimation of Rigid Object Takashi BANDO, Tomohiro SHIBATA, Mikio SHIMIZU, Shin ISHII, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | One of the major drawbacks of Particle Filters (PFs) is that a large number of particles are generally required for accurate estimation of state variables lying in a high dimensional space, which is time-consuming. In many applications, the high-dimensional state variables can be hierarchically modeled and this study presents an adaptive proposal distribution which is a mixture of prediction densities computed in individual layers, and its mixture ratio corresponding to the reliability of each layer is determined by means of an on-line EM algorithm. The adaptive proposal distribution enables robust and accurate estimation with a few numbers of particles, which is demonstrated by computer simulations of pose estimation of a rigid object as well as real experiments of driver's head pose estimation in a real car. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | particle filter / hierarchy / real-time processing / pose estimation / on-line EM algorithm |
| Paper # | NC2005-119 |
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| Committee | NC |
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| Conference Date | 2006/3/8(1days) |
| Place (in Japanese) | (See Japanese page) |
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| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Neurocomputing (NC) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Adaptive Mixing of Proposal Distributions of Hierarchical Particle Filtering and its Application to Real-time Pose Estimation of Rigid Object |
| Sub Title (in English) | |
| Keyword(1) | particle filter |
| Keyword(2) | hierarchy |
| Keyword(3) | real-time processing |
| Keyword(4) | pose estimation |
| Keyword(5) | on-line EM algorithm |
| 1st Author's Name | Takashi BANDO |
| 1st Author's Affiliation | Graduate School of Information Science, Nara Institute of Science and Technology() |
| 2nd Author's Name | Tomohiro SHIBATA |
| 2nd Author's Affiliation | Graduate School of Information Science, Nara Institute of Science and Technology |
| 3rd Author's Name | Mikio SHIMIZU |
| 3rd Author's Affiliation | Vehicle Integrated Systems R & D Dept. |
| 4th Author's Name | Shin ISHII |
| 4th Author's Affiliation | Graduate School of Information Science, Nara Institute of Science and Technology |
| Date | 2006-03-15 |
| Paper # | NC2005-119 |
| Volume (vol) | vol.105 |
| Number (no) | 657 |
| Page | pp.pp.- |
| #Pages | 6 |
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