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Target Tracking a Non-Linear Target Path
Using Kalman Predictive Algorithm and Maximum
Likelihood Estimationby
James Dennis Musick
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Agenda
• Introduction
• Problem Definition
• Kalman Filter
• Target Discrimination
• Conclusion
• Future Work
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Introduction
• In the field of biomechanical research there is a subcategory that studies human movement or activity by video-based analysis
• Markers used– Optical
– RF
– Passive reflective
– Etc…
• Video based motion analysis
• 2D Analysis
• 3D analysis
• Golf swing example
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Problem Definition
• In order to track the following have to be accomplished– Path Prediction– Discrimination
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Problem Definition cont.
• Trials used– Walking Trial– Jumping Trial– Waving Wand Trial– Increasing complexity
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Video Target Identification
• Threshold
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Target Algorithm Uncertainty
• Measurement Uncertainty
• Correct (3.5,4) Correct (3.5,3)
• Blue missing (3.5,4) Red missing (3.8,3.17)• Red missing (3.64, 4.21)
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Kalman Filter
• Introduction – State Space representation
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Kalman Filter cont.
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Kalman Filter cont
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Kalman Filter cont
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Kalman Filter cont
• Target Models:– Noisy Acceleration model
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Kalman Filter cont
• Target Models:– Noisy Jerk model
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Kalman Filter cont
• Selection of update time:• T = 1
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Kalman Filter cont• b
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Kalman Filter Noisy Acceleration
• Operation of the Kalman Filter
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Kalman Filter Noisy Acceleration
• Operation of the Kalman Filter
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Kalman Filter Noisy Acceleration
• Operation of the Kalman Filter
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Kalman Filter Noisy Jerk
• Operation of the Kalman Filter
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Kalman Filter Noisy Jerk
• Operation of the Kalman Filter
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Kalman Filter Noisy Jerk
• Operation of the Kalman Filter
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Kalman Filter
• Occluded targets
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Target Discrimination
• Introduction– Goal
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Target Discrimination
• Example
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Target Discrimination
• Example cont
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Target Discrimination
• Operation of algorithm
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Target Discrimination
• Operation of algorithm cont
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Target Discrimination
• Operation of algorithm cont
Jumping Trial
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Target Discrimination
• Operation of algorithm cont
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Conclusion
• Kalman filter– Model
• Discrimination
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Future Work
• Hardware implementation
• 3D application
• Other biomechanical target discrimination (segmentation, etc.)
• Other tracking application (space, robotics, etc.)