The University of Southampton
University of Southampton Institutional Repository

Multiple Model Filtering for Time-to-Collision Estimation and Segmentation

Record type: Article

This paper addresses the problem of time-to-collision/recession-rate estimation of tracked two-dimensional image features over a long image sequence using the Multiple Model Adaptive Estimator (MMAE). Extended Kalman filters are constructed assuming that an image feature moves on a constant plane with respect to an observer, and simulations are then presented. These simulation results show that a filter based on a single motion model is not appropriate when trying to estimate the time-to-collision of a tracked feature point in a typical driving scenario, due to either undermodelling or overmodelling of the expected feature motion. A Multiple Model Filter algorithm (the MMAE2) is then proposed and investigated to overcome these problems and to help with scene segmentation. This algorithm was found to be unreliable when tested on simple artificially generated feature trajectories and could not discriminate reliably between models of different orders. Finally, a modified version of the MMAE2 using empirically generated estimates of the residual's covariance, instead of the theoretical covariance traditionally used, is proposed. The modified algorithm (MMAE2) was tested and was found to discriminate reliably between models and therefore produce accurate estimates of recession-rate.

Full text not available from this repository.

Citation

Roberts, J.M. and Charnley, D. (1995) Multiple Model Filtering for Time-to-Collision Estimation and Segmentation IEEE Trans. on Signal Processing

More information

Published date: 1995
Additional Information: submitted for publication
Organisations: Electronics & Computer Science

Identifiers

Local EPrints ID: 250379
URI: http://eprints.soton.ac.uk/id/eprint/250379
PURE UUID: a1be7e56-6d06-4fcc-91b6-f5ce9a0ba7ce

Catalogue record

Date deposited: 04 May 1999
Last modified: 18 Jul 2017 10:42

Export record

Contributors

Author: J.M. Roberts
Author: D. Charnley

University divisions


Download statistics

Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.

View more statistics

Atom RSS 1.0 RSS 2.0

Contact ePrints Soton: eprints@soton.ac.uk

ePrints Soton supports OAI 2.0 with a base URL of http://eprints.soton.ac.uk/cgi/oai2

This repository has been built using EPrints software, developed at the University of Southampton, but available to everyone to use.

We use cookies to ensure that we give you the best experience on our website. If you continue without changing your settings, we will assume that you are happy to receive cookies on the University of Southampton website.

×