Selective sampling importance resampling particle filter tracking with multibag subspace restoration

Mark David Jenkins, Peter Barrie, Tom Buggy, Gordon Morison*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

15 Citations (Scopus)
231 Downloads (Pure)


The focus of this paper is a novel object tracking algorithm which combines an incrementally updated subspace-based appearance model, reconstruction error likelihood function and a two stage selective sampling importance resampling particle filter with motion estimation through autoregressive filtering techniques. The primary contribution of this paper is the use of multiple bags of subspaces with which we aim to tackle the issue of appearance model update. The use of a multibag approach allows our algorithm to revert to a previously successful appearance model in the event that the primary model fails. The aim of this is to eliminate tracker drift by undoing updates to the model that lead to error accumulation and to redetect targets after periods of occlusion by removing the subspace updates carried out during the period of occlusion. We compare our algorithm with several state-of-the-art methods and test on a range of challenging, publicly available image sequences. Our findings indicate a significant robustness to drift and occlusion as a result of our multibag approach and results show that our algorithm competes well with current state-of-the-art algorithms.
Original languageEnglish
Pages (from-to)264-276
Number of pages13
JournalIEEE Transactions on Cybernetics
Issue number1
Early online date8 Dec 2016
Publication statusPublished - Jan 2018


  • particle filter tracking
  • algorithm
  • multibag approach
  • appearance model
  • object tracking
  • particle filter
  • selective sampling importance resampling
  • SSIR


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