Tracking using Particle and Kalman Filters in Hand Washing Quality Assessment System

Abstract- This paper describes a method for tracking the for the towel, are used. In [4] a single Extended Particle filter hands/arms of a person performing hand washing. A hand washing (XPF) is used to track multiple and dynamic objects in complex quality assessment system needs to know if the hands are joined environments where a multi-modal distribution represents the or separated, if they are under water, if they are in contact with.lthe towel or the tap, and it has to be robust to different lighting conditions, occlusions, reflections and changes in color on the steel In our approach a skin color segmentation process is applied. surface. In the proposed system hands/arms are extracted by using The hands/arms are modeled by using an area based ellipse skin color segmentation. An area based ellipse model is used for fitting method. A single multi-modal distribution is then used in representing each hand/arm. A Particle filter (PF) in combination... with a k-means based clustering technique is used for tracking odrt est the positio an orientao no fbothands/arms. both hands/arms. A supervision algorithm measures the number of That is not the case of the KF which needs two different filters for objects being tracked and the quality of the tracking itself. Finally each one of the hands. The results obtained by PF are analyzed the PF performance is discussed and compared with the standard and compared with those given by KF estimator. Kalman filter (KF) estimator. The remainder of the paper is organized as follows: Section KeVwords- Hand washing, Kalman filter, Particle filter, Skin 1I provides a description of the hands/arms segmentation process detection, Tracking. and the proposed model. PF is described in Section III. Th