A particle filtering algorithm for tracking moving target under Clutter

On visual tracking, a particle filter algorithm was presented to track a moving target under clutter environment which can deal with rotation, scale changes, variations in the light source and partial occlusions. So it can track the target with robustness. The proposed method was based on particle filter, integrated with color histogram in the measurement model, and the system model was second order autoregressive process. The algorithm took into account the latest observations and the tracked target can be rigid or non-rigid. Also the method can run in real-time. The experimental results confirm that the method is effective even when the monocular camera is moving and the target object is partially occluded in a clutter background.