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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)
Statement of
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
RMID: 0020131255
DOI: 10.1109/IROS.2008.4651096
Appears in Collections:Computer Science publications

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