A HMM approach to the estimation of random trajectories on manifolds

Authors:
Jorge S. Marques;João M. Lemos;Arnaldo J. Abrantes
Affiliations:
Instituto de Sistemas e Robotica, Av. Rovisco Pais, 1049-001 Lisbon Portugal and Instituto Superior Técnico, Av. Rovisco Pais, 1049-001, Lisbon, Portugal;Instituto de Sistemas e Robotica, Av. Rovisco Pais, 1049-001 Lisbon Portugal and INSEC, R. Alves Redol, 9, 1000 Lisbon, Portugal;ISEL, R. Conselheiro Emídio Navarro, 1949-014 Lisbon, Portugal
Venue:
Signal Processing
Year:
2002

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Abstract

Dynamic image analysis requires the estimation of time-varying model parameters (e.g., shape coefficients). This can be seen as states of a dynamic model which are restricted to a subset of Euclidean space. This paper describes an algorithm for the estimation of the state evolution on manifolds exploiting three sources of information: the manifold geometry, the motion model and the sensor model. Examples are provided to illustrate the performance of this method in situations where classic procedures cannot perform well.