PaFiMoCS: Particle Filtered Modified-CS and Applications in Visual Tracking across Illumination Change

We study the problem of tracking (causally estimating) a time sequence of sparse spatial signals with changing sparsity patterns, as well as other unknown states, from a sequence of nonlinear observations corrupted by (possibly) non-Gaussian noise. In many applications, particularly those in visual tracking, the unknown state can be split into a small dimensional part, e.g. global motion, and a spatial signal, e.g. illumination or shape deformation. The spatial signal is often well modeled as being sparse in some domain. For a long sequence, its sparsity pattern can change over time, although the changes are usually slow. To address the above problem, we propose a novel solution approach called Particle Filtered Modified-CS (PaFiMoCS). The key idea of PaFiMoCS is to importance sample for the small dimensional state vector, while replacing importance sampling by slow sparsity pattern change constrained posterior mode tracking for recovering the sparse spatial signal. We show that the problem of tracking moving objects across spatially varying illumination change is an example of the above problem and explain how to design PaFiMoCS for it. Experiments on both simulated data as well as on real videos with significant illumination changes demonstrate the superiority of the proposed algorithm as compared with existing particle filter based tracking algorithms.