Thursday, June 24, 2010

3d Tracking Using Kalman and Particle Filters

This paper has been published in arXiv. Working Python code is attached at the bottom of this post.

Abstract: "One of the most visually demonstrable and straightforward uses of filtering is in the field of Computer Vision. In this document we will try to outline the issues encountered while designing and implementing a particle and kalman filter based tracking system".

Note: If you'd like the AVI files I used for testing, I can share them as well -- they are 10M each. Just drop a comment under this post, I will share the files.

Code

Sunday, June 13, 2010

EKF, FastSlam, Python = Probrob

Some example Python code for FastSLAM, EKF and particle filters can be found at Chris Murphy's probrob project. I updated the code with some cleanup, adapted it for latest matplotlib; My version can be found here. You can run it with "python run" passing "ro" or "rb" as parameters. A map should come up and a fictional map, obstacles and a robot is plotted on the map.

Here is Chris Murphy's mention of my suggestions in README.

Wednesday, June 9, 2010

Siftpy - Python, SIFT, siftpp

Here is a first version of a Python interface called siftpy for the excellent siftpp C++ code that is written by Andrea Vedaldi. SIFT algorithm is devised (and patented) by David Lowe, who has his own C implementation for the algorithm; Vedaldi's code is written from scratch without any dependencies.

Monday, June 7, 2010

My Correction for Particle Filter Cookbook

The Python code correction I sent to SciPy.org - sponsored by Enthought - for particle filter has been made available by Alexander Borghgraef. The main page for the code is here.

Wednesday, June 2, 2010

Particle Filter Cookbook Code

The Python code here had some issues with graphing; I fixed it and my version is here.