Understanding the ConDenstation Tracking Algorithm

来自一篇帖子的回复，原文地址参：Motion Detection and Tracking- Condensation

 

william_keatts wrote:
> [...]I've looked up the Condensation ...
> I'm still a little unclear of
> its uses. Could you please clarify what it does and why you would
> suggest it? Could you also let me know how to implement it or give
> me an example?

I'm a little late to reply, but here is some quick explanation, which
can provide you various pointers leading towards tons of information:

- Keywords - Factored Sampling, Multimodal, Non-Gaussian
- It uses Learned Dynamical Models and Visual Observations to propagate
a Random set over time
- It provides prediction of future measurements based on the conditional
probability densities of the past measurements (The Predictor-Corrector
algorithm)
- Somewhat similar to Kalman Filtering which is unimodal(单峰分布), i.e. the
distributions of the data is assumed to be always Gaussian Based（高斯/正态分布）
- But condensation is Multimodal(多峰分布), as there can be the case when there
are multiple peaks so it may require to sum them all, which can be difficult, instead
- Condensation samples each of the peaks and weight it based on their
likelihood, called Factored Sampling
- These samples are now given a weight according to the likelihood of
observations
- The algorithm then maintain these samples for further steps,
strengthening for the hypothesis of the true state, while the hypothesis(假设)
for the false target is not reinforced and therefore it gradually diminishes

References:
- Michael Isard, Andrew Blake - CONDENSATION - conditional density
propagation for visual tracking
- Jeff Brasket, The CONDENSATION Algorithm: A Literature Survey,
February 2002
－－－－－－－－－－－－－－－－－－－－－
注：最权威的出处：Isard和Blake大牛的主页。

另外，有一些相关链接：

①WIKI:★
http://en.wikipedia.org/wiki/Condensation_algorithm
②pudn上的许多源码，搜索关键词：condensation,track(or tracking)
③★★★（Isard大牛的主页）
http://homepages.inf.ed.ac.uk/rbf/CVonline/LOCAL_COPIES/ISARD1/condensation.html
④Parallel Condensation:
http://beowulf.csail.mit.edu/18.337-2002/projects-2002/amay/partracker/doc/index.html
⑤一篇帖子：★★
http://tech.groups.yahoo.com/group/OpenCV/message/18280，对概念的简要理解，重要的认识
⑥A good descriptive page about the condensation algorithm. Contains downloadable source code, results, publications and links to related work.：（也是指向Isard的主页③）
http://www.abc-directory.com/site/837924
⑦google blog可以搜索到很多学习内容：
http://www.google.com.hk/webhp?hl=en#q=condensation+open+cv&hl=en&newwindow=1&safe=active&biw=1345&bih=613&prmd=ivns&source=lnms&tbs=blg:1&ei=wvtXTb3oOYrCcbySwaoM&sa=X&oi=mode_link&ct=mode&cd=8&ved=0CBAQ_AUoBw&prmdo=1&fp=c5ff35142bb270e5
如：
http://www.cnblogs.com/TravelingLight/archive/2010/11/11/1874804.html

⑧google ocde上可以搜索代码：
http://code.google.com/intl/zh-CN/query/#q=condensation