A fuzzy-controlled Kalman filter applied to stereo-visual tracking schemes

  • Authors:
  • Santiago Aja-Fernández;Carlos Alberola-López;Juan Ruiz-Alzola

  • Affiliations:
  • ETSI Telecomunicación, University of Valladolid, Campus Miguel Delibes s/n, Valladolid 47011, Spain;ETSI Telecomunicación, University of Valladolid, Campus Miguel Delibes s/n, Valladolid 47011, Spain;Dep. Señales y Comunicaciones, University of Las Palmas, Las Palmas, GC, Spain

  • Venue:
  • Signal Processing
  • Year:
  • 2003

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Abstract

In this paper, the authors propose a fuzzy-controlled Kalman filtering scheme applied to stereo visual tracking. Two control levels have been designed: first, a fuzzy methodology allows the filter to fine tune to actual conditions by estimating the plant noise covariance matrix in every time instant. Second, a fuzzy control stage based on a fuzzy feedback system is used to reinitiate the filter in those cases in which a track is lost. The principal coordinates paradigm has been used for the filter, but the methodology here proposed carries over easily to other more popular Kalman schemes.