CONDENSATION – Conditional Density

Propagation for Visual Tracking

Michael Isard and Andrew Blake, IJCV 1998

Presented by Wen LiDepartment of Computer Science & Engineering

Texas A&M University

Outline

Problem Description Previous Methods CONDENSATION Experiment Conclusion

Problem Description

What’s the task Track outlines and features of foreground

objects Video frame-rate Visual clutter

Problem Description

Challenges Elements in background clutter may

mimic parts of foreground features Efficiency

Previous Methods

Directed matching Geometric model of object + motion model

Kalman Filter

Kalman Filter

Main Idea Model the object Prediction – predict where the object

would be Measurement – observe features that

imply where the object is Update – Combine measurement and

prediction to update the object model

Kalman Filter

Assumption Gaussian prior

Markov assumption

Kalman Filter

Kalman Filter

Essential Technique Bayes filter

Limitation Gaussian distribution Does not work well in “clutter”

background

CONDENSATION

Stochastic framework + Random sampling

Difference with Kalman Filter Kalman Filter – Gaussian densities Condensation – General situation

CONDENSATION

Symbols + goal Assumptions Modelling

Dynamic model Observation model

Factored sampling CONDENSATION algorithm

CONDENSATION

Symbols xt – the state of object at time t Xt – the history of xt, {x1,…, xt} zt – the set of image features at time t Zt – the history of zt, {z1,…, zt}

Goal Calculate the model of x at time t, given

the history of the measurements. -- P(xt |Zt)

CONDENSATION

Assumptions Markov assumption▪ The new state is conditioned directly only on

the immediately preceding state▪ P(xt|Xt-1)=p(xt|xt-1)

zt -- Independence (mutually and with respect to the dynamical process)▪ P(Zt |Xt)=∏ p(zi|xi)▪ P(zi|xi) = p(z|x)

CONDENSATION

Dynamic model P(xt|xt-1)

Observation model

CONDENSATION

Propagation – applying Bayes rules

Cannot be evaluated in closed form

CONDENSATION

Factored Sampling Approximate the probability density p(x|

z) In single image Step 1: generate a sample set {s(1),…,

s(N)} Step 2: calculate the weight πi

corresponding to each s(i), using p(z | s(i)) and normalization

Step 3: calculate the mean position of x, that

CONDENSATION

Factored Sampling -- illustration

CONDENSATION The CONDENSATION algorithm – finally!

Initialize p(x0) For any time t▪ Predict:

select a sample set {s’t(1),…, s’t

(N)} from old sample set {st-1

(1),…, st-1(N)} according to π t-1

(n)

predict a new sample-set {st(1),…, st

(N)} from {s’t(1),…,

s’t(N)}, using the dynamic model we mentioned previously

▪ Measure:calculate weights πi according to observed features, then calculate mean position of xt as in the single image

CONDENSATION

Experiment

On Multi-Model Distribution

The shape-space for tracking is built from a hand-drawn template of head and shoulder

N=1000, frame rate=40 ms

Experiment

On Rapid Motions Through Clutter

Experiment

Experiment

On Articulated Object

Experiment

Experiment

On Camouflaged Object

Conclusion

Good news: Works on general distributions Deals with Multi-model Robust to background clutter Computational efficient Controllable of performance by sample

size N Not too difficult

Conclusion

Problems might be Initialization “hand-drawn” shape-space