The Condensation algorithm

Abstract

racking objects through highly cluttered scenes is difficult. We believe that for tracking to be robust when following agile moving objects, in the presence of dense background clutter, probabilistic algorithms are essential. Previous algorithms, for example the Kalman filter, have been limited in the range of probability distributions they represent. We have developed a new algorithm, the Condensation algorithm (Conditional Density Propagation) which allows quite general representations of probability.