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1、InternationalJournalofComputerVision29(1),5–28(1998)°c1998KluwerAcademicPublishers.ManufacturedinTheNetherlands.CONDENSATION—ConditionalDensityPropagationforVisualTrackingMICHAELISARDANDANDREWBLAKEDepartmentofEngineeringScience,UniversityofOxford,OxfordOX13PJ,UKReceivedJuly16,1996;A
2、cceptedMarch3,1997Abstract.Theproblemoftrackingcurvesindensevisualclutterischallenging.KalmanfilteringisinadequatebecauseitisbasedonGaussiandensitieswhich,beingunimodal,cannotrepresentsimultaneousalternativehypothe-ses.TheCondensationalgorithmuses“factoredsampling”,previouslyappliedt
3、otheinterpretationofstaticimages,inwhichtheprobabilitydistributionofpossibleinterpretationsisrepresentedbyarandomlygeneratedset.Condensationuseslearneddynamicalmodels,togetherwithvisualobservations,topropagatetherandomsetovertime.Theresultishighlyrobusttrackingofagilemotion.Notwiths
4、tandingtheuseofstochasticmethods,thealgorithmrunsinnearreal-time.1.TrackingCurvesinCluttermodelsofamovingobjectareavailable,theycanbematchedeffectivelytoimagedata,thoughusuallyatThepurposeofthispaper1istoestablishastochas-considerablecomputationalcost(Hogg,1983;Lowe,ticframeworkfort
5、rackingcurvesinvisualclutter,us-1991;Sullivan,1992;Huttenlocheretal.,1993).Onceingasamplingalgorithm.Theapproachisrootedinanobjecthasbeenlocatedapproximately,trackingitideasfromstatistics,controltheoryandcomputervi-insubsequentimagesbecomesmoreefficientcomputa-sion.Theproblemistotrac
6、koutlinesandfeaturesoftionally(Lowe,1992),especiallyifmotionismodelledforegroundobjects,modelledascurves,astheymoveaswellasshape(Gennery,1992;Harris,1992).Oneinsubstantialclutter,andtodoitat,orcloseto,videoimportantfacilityisthemodellingofcurvesegmentsframe-rate.Thisischallengingbec
7、auseelementsinwhichinteractwithimages(FischlerandElschlager,thebackgroundcluttermaymimicpartsofforeground1973;YuilleandHallinan,1992)orimagesequencesfeatures.Inthemostseverecaseofcamouflage,the(Kassetal.,1987;Dickmanns,andGraefe,1988).backgroundmayconsistofobjectssimilartothefore-Thi
8、sismoregeneralthanm
