Robust particle filtering for object tracking

Abstract. This paper addresses the ltering problem when no assump-tion about linearity or gaussianity is made on the involved density func-tions. This approach, widely known as particle ltering, has been ex-plored by several previous algorithms, including Condensation. Although it represents a new paradigm and some results have been achieved, it has several unpleasant behaviours. We highlight these misbehaviours and propose an algorithm which deals with them. A test-bed, which allows proof-testing of new approaches, has been developed. The proposal has been successfully tested using both synthetic and real sequences.