Re: [Bayes++] "observe" and "observe_innovation" for EKF

[Nicola B. <nb...@es...>]

On Monday 24 Oct 2005 16:06, you wrote:
> Sounds quite simmilar to my work :)
>
> I'm using "Active Contours" (Blake & Isard) as my primary reference, but
> find the coverage of spline-fitting rather weak, as the recursive algorithm
> on p.127 is almost presented out of the blue. I somewhat see the
> relationship to information filters (inverse covariance Kalman), but this
> is quite unclear to me.
>
> Do you have any good references on spline-fitting (projection of sampled
> contours to feature-space) to recommend?

Actually I'm not that deeply involved into vision as you seem to be, that's 
why I let OpenCV do most of the work ;)
Don't know if it might be of interest, but perhaps you want to have a look at 
Brethes et al, "Data Fusion for Visual Tracking dedicated to Human-Robot 
Interaction", ICRA'05. Hope it helps.
Let me know how it goes with the Bayes++ implementation.
Bye
Nicola
PS: I cc to the mailing-list, hoping someone else shows up with his Bayes++ 
application...

>
> Thanks in advance, and good luck in your research! :)
>
> regards,
> Fredrik Orderud
> Ph.D student in Computer Science, NTNU
> ----- Original Message -----
> From: "Nicola Bellotto" <nb...@es...>
> To: "Fredrik Orderud" <fre...@id...>
> Sent: Monday, October 24, 2005 4:30 PM
> Subject: Re: [Bayes++] "observe" and "observe_innovation" for EKF
>
> > On Monday 24 Oct 2005 13:34, you wrote:
> >> Vi just started using Bayes++ this fall.
> >>
> >> I'm currently digging into contour-based video tracking, and find the
> >> "condensation"-algorithm (Blake & Isard @ univ. of Oxford) quite
> >> interesting, as it provides a firm statistical foundation for video
> >> tracking. My goal is to develop an open-source video tracking library
> >> based
> >> on OpenCV and Bayes++.
> >
> > That's cool, 'cause I've also started recently and I use OpenCV. I'm
> > doing people tracking from a mobile platform (robot), combining vision
> > and laser range data. I know of course the CONDENSATION algorithm, but at
> > the moment I've just started with an EKF, planning to move later towards
> > particle techniques.
> > Hope to hear from you again and good luck with your research.
> > Nicola
> >
> >> regards,
> >> Fredrik Orderud
> >> Ph.D student in Computer Science, NTNU
> >> ----- Original Message -----
> >> From: "Nicola Bellotto" <nb...@es...>
> >> To: <bay...@li...>
> >> Sent: Monday, October 24, 2005 2:04 PM
> >> Subject: Re: [Bayes++] "observe" and "observe_innovation" for EKF
> >>
> >> > Fredrik,
> >> > thanks for you answer. Glad to see I got a reply, unfortunately this
> >> > mailing-list seems to be deserted...
> >> > What are you using Bayes++ for? Sometimes I'd like to share my
> >> > experiences/doubts with someone else who's using it.
> >> > Cheers
> >> > Nicola
> >> >
> >> > On Monday 24 Oct 2005 02:00, you wrote:
> >> >> I believe you're right in your assumptions about "observe" and
> >> >> "observe_innovation".
> >> >>
> >> >> It you look into the sourcecode for EKF (bayesFlt.cpp), you'll
> >> >> discover
> >> >> that "observe" first calculates the innovation based on the
> >> >> difference between the actual and predicted measure, and then calls
> >> >> "observe_innovation" internally.
> >> >>
> >> >> ----- Original Message -----
> >> >> From: "Nicola Bellotto" <nb...@es...>
> >> >> To: <bay...@li...>
> >> >> Sent: Saturday, October 22, 2005 7:24 PM
> >> >> Subject: [Bayes++] "observe" and "observe_innovation" for EKF
> >> >>
> >> >> > I've some doubt about the use of the two funtions "observe" and
> >> >> > "observe_innovation". From what I've understood, they do the same
> >> >> > job
> >> >> > (correction step), but:
> >> >> > - "observe" computes internally the innovation from the given real
> >> >> > measure 'z';
> >> >> > - "observe_innovation" needs the innovation 's' to be computed
> >> >> > externally
> >> >> > and
> >> >> > then passed as argument.
> >> >> > Is that correct?
> >
> > --
> > ------------------------------------------
> > Nicola Bellotto
> > University of Essex
> > Department of Computer Science
> > Wivenhoe Park
> > Colchester CO4 3SQ
> > United Kingdom
> >
> > Room: 1N1.2.8
> > Tel. +44 (0)1206 874094
> > E-Mail: nb...@es...
> > URL: http://privatewww.essex.ac.uk/~nbello
> > ------------------------------------------

-- 
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Nicola Bellotto
University of Essex
Department of Computer Science
Wivenhoe Park
Colchester CO4 3SQ
United Kingdom

Room: 1N1.2.8
Tel. +44 (0)1206 874094
E-Mail: nb...@es...
URL: http://privatewww.essex.ac.uk/~nbello
------------------------------------------