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Sampling strong tracking nonlinear unscented Kalman filter and its application in eye tracking |
| Zhang Zu-Tao(张祖涛)a)b)† and Zhang Jia-Shu(张家树)b) |
| a School of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China; b Sichuan Provincial Key Laboratory of Signal & Information Processing, Southwest Jiaotong University, Chengdu 610031, China |
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Abstract The unscented Kalman filter is a developed well-known method for nonlinear motion estimation and tracking. However, the standard unscented Kalman filter has the inherent drawbacks, such as numerical instability and much more time spent on calculation in practical applications. In this paper, we present a novel sampling strong tracking nonlinear unscented Kalman filter, aiming to overcome the difficulty in nonlinear eye tracking. In the above proposed filter, the simplified unscented transform sampling strategy with n+2 sigma points leads to the computational efficiency, and suboptimal fading factor of strong tracking filtering is introduced to improve robustness and accuracy of eye tracking. Compared with the related unscented Kalman filter for eye tracking, the proposed filter has potential advantages in robustness, convergence speed, and tracking accuracy. The final experimental results show the validity of our method for eye tracking under realistic conditions.
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Received: 13 January 2010
Revised: 17 May 2010
Accepted manuscript online:
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PACS:
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02.50.-r
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(Probability theory, stochastic processes, and statistics)
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42.30.Sy
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(Pattern recognition)
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42.30.Va
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(Image forming and processing)
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| Fund: Project supported by the National Natural Science Foundation of China (Grant No. 60971104), the Fundamental Research Funds for the Cental Universities (Grant No. SWJTU09BR092), and the Young Teacher Scientific Research Foundation of Southwest Jiaotong University (Grant No. 2009Q032). |
Cite this article:
Zhang Zu-Tao(张祖涛) and Zhang Jia-Shu(张家树) Sampling strong tracking nonlinear unscented Kalman filter and its application in eye tracking 2010 Chin. Phys. B 19 104601
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