Particle Filtering for Robust Single Camera Localisation

Mark Pupilli, Andrew Calway, Particle Filtering for Robust Single Camera Localisation. First International Workshop on Mobile Vision. May 2006. PDF, 842 Kbytes.


This paper summarises recent work on vision based localisation of a moving camera using particle filtering. We are interested in real-time operation for applications in mobile and wearable computing, in which the camera is worn or held by a user. Specifically, we aim for localisation algorithms which are robust to the real-life motions associated with human activity and to the dynamic clutter encountered in real environments. Particle filtering provides greater generality than previous approaches, enabling it to deal with the multi-modal uncertainties characteristic of such operating conditions. We present an overview of the methodology and experimental results for different tracking scenarios, with and without prior knowledge of scene structure.

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