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2D Target tracking using Kalman filter

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2D Target tracking using Kalman filter

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12 Mar 2007 (Updated )

This Demo shows tracking target and prediction next position using kalman filter

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Description

The first just does detection by background subtraction. This can be considered as the ground truth.
The second feeds the detection output into a Kalman filter. The predicted position from the kalman filter (red) is compared against the actual ground truth position (green).
Toby Breckon,
http://www.inf.ed.ac.uk

Required Products Image Acquisition Toolbox
MATLAB release MATLAB 7.3 (R2006b)
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Comments and Ratings (56)
19 Aug 2014 Minsoo Goh  
04 Feb 2014 Fernando

Very nice :) Even though you can get better results by deriving a better covariance process noise matrix instead of the simple identity matrix.

11 Aug 2013 lin

cool

17 Dec 2012 Alessandro Crimi  
17 Dec 2012 Alessandro Crimi

Please ignore my previous comment, the prediction is corret, I miss the transpose x', good job.
Cheers

17 Dec 2012 Alessandro Crimi

Hi
Please correct me if I miss something.
I think your code is wrong, though it is working.
The state prediction:
xp=A*x(i-1,:)' + Bu
will give as a result the same vector x with the g in the last element.
This matrix
A=[[1,0,0,0]',[0,1,0,0]',[dt,0,1,0]',[0,dt,0,1]'];
multiplied by
xp = [MC/2,MR/2,0,0]'.
It is a bit pointless, since the dt elements will always be cancel out by the last zeros. Then you do correctly the observation step and the algorithm is working, but the prediction practically doesn't exist.

12 Nov 2012 Alex

Good work! Could you send me a link or a document with the explanation of the algorithm?
I don´t know why you include some variables that not are included in Matlab examples. For example: Bu.
The matrix dimensions are also different...
Link to this code: http://codeviewer.org/view/code:2b99

bocatasinpan (at) hotmail.com

07 Sep 2012 divya konda

hi sir i am doing project on system identification by measuring RSS values and i wil compare it with the offline values and i have to calculate the distance by kernel and kalman can you tel me or send me the code please.
My ID kdivyagupta@yahoo.co.in

04 May 2012 AL Mukhtar

my e-mail is:
u044889@gmail.com

18 Sep 2011 siva

How can i apply this code for tracking persons? Iam not able to do it.
please explain.

12 Sep 2011 mazhiver ana  
02 Aug 2011 Shane

Some further explanation of some of the functions would be greatly appreciated!!! I am working on a thesis comparing different methods of object tracking, one is using the Kalman filter.
I am trying to use the same code for a simple video of a person walking past a security camera, the camera is looking straight at the relevant object. When I run the detect.m file using my own video, it starts off great, with the green circle tracking the object, once it goes half way through the video images, the green circle increases in size and the tracking is incomplete. can anyone help me please???

30 Jul 2011 Fredy

can you give me documentation about this program? please

18 Mar 2011 JAIRO

I have the same trouble than you Rana mudassar, how did you fix it?..
other question : how can I modify this m-file to detect the ball in a real time with a camera??. thanks

25 Feb 2011 Christy

Hi..I am a beginner in kalman filter..Can you please tell me how kalman filter is predicting the next position of the target.

03 Feb 2011 shyam p

Your work is very good. This code is tracking red color ball. Could you let me know how to modify this image to track white color ball. you can reply me at shyam6283@gmail.com

16 Jan 2011 Kalla

I agree with Nita. What is the job of Kalman filter here?

09 Jan 2011 Rana Mudassar Munir

% extract ball
[cc(i),cr(i),radius,flag] = extractball(Imwork,Imback,i);%,fig1,fig2,fig3,fig15,i;

the above code is creating trouble for me...plz help...it says:

??? Undefined function or method 'extractball' for input arguments of type 'double'.

reply me at samroy73@yahoo.com
OR samroy73@hotmail.com

24 Sep 2010 Christy

Thanx for sharing the code..but can u please tell me how have you decided the values of various models(which ofcourse depend on the system used)..i mean which system have you assumed here

07 Jun 2010 vo

thanks. But can you make it by wavelet transform?

10 May 2010 Nita

Thanks for sharing the code.
Please can you say how kalman filter helps in tracking .
In this code you have done detection in every frame and this output is provided as the input to the kalman filter.So background subtraction and kalman filter will give similar results.So please can you explain the use of kalman filter here.

25 Nov 2009 tam duy

thank you... If possible please provide me the algorithm

my email is thanhmilano@gmail.com

12 Sep 2009 Ranga Rao

thank you... If possible please provide me the algorithm my email is samindla.ranga@gmail.com

16 Jul 2009 Jun wan  
30 Apr 2009 Kamil Wojcicki  
10 Mar 2009 Hema Gandhi

thank you... can you help me in tracking of the eye ball movement.... my email is hema87@gmail.com

04 Feb 2009 Goh

Nice job.Is it possible to change ball tracking into hand movement tracking? Can u guide me to modify it?My email is imvionne@hotmail.com.Thank you =)

05 Jan 2009 Farzad Sagharchi  
04 Jan 2009 priyanka chittella

i need matlab code for tracking of multi object based on daubechies complex wavelet transform its urgent n if possible give me some information about it

24 Sep 2008 David Sánchez  
15 Sep 2008 Snigdha Khanum

Matlab code for object tracking using Kalman filter.

15 Sep 2008 Aparna Saha

Matlab code for multi object tracking using kalman filter and SIFT features is needed.If possible send as early as possible.

22 Aug 2008 milind ganure  
20 Jun 2008 emy shahin  
12 Jun 2008 Ali Ganoun

Good work

10 Apr 2008 Sam Hooti

You can make it more visual

09 Apr 2008 anish ?s?u?  
05 Mar 2008 ramo lkalka

poor

26 Feb 2008 zhigui Hu  
26 Feb 2008 zhigui Hu  
19 Feb 2008 apuri sambaiah

good

19 Feb 2008 paakalu sailu

it is simply good

13 Feb 2008 Matt Breg

wel done!! simply but efficient!!

22 Jan 2008 Prince Joveluro

Thanks, it is useful

08 Jan 2008 Reza mohamad

it is very good. thank you.

21 Nov 2007 Sachin Raka  
08 Nov 2007 Farshad Fahimi

Some comments are in farsi and there is no documentation. Also you can extend it to more complicated scenarios if you wish.

16 Oct 2007 RAZI Amir

I like Kalman Filter and I like you,Thank you for sharing

amirrazi506(a)yahoo.fr

08 Sep 2007 Dezmond Conner

Nice Work
I build my tracking device and will be great to use a Kalman filterd like yours:)

24 Aug 2007 jagannath nirmal

i want some information about it
i like it
i would like to learn all releted with target tracking using kalman filter
thank you

16 Aug 2007 ihsan ihsan

Great job, Thanks for sharing, May God bless you,

07 Aug 2007 belhaoua abdelkrim

thank you very much, it's very clear.

10 Jul 2007 harika kalashika  
10 May 2007 Brian Ho

The programming structure is clear and the approaching strict forward. thank you very much your sharing

07 May 2007 Prasertsak Tiawongsombat

it is clear and enlightens me, thank you

14 Mar 2007 vahid mousavi

i like images...

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