Image Processing Reference

In-Depth Information

and
w
k
and
v
k
are the zero-mean, white, Gaussian random processes modeling the system

noise. The whole filtering procedure consists of prediction and correction steps, which are car-

ried out alternatively. The state in the next time step is predicted from the current state using:

Face detection is performed on the window of height
H
k
+ 1|
k
and width 0.75
H
k
+ 1|
k
centered at

a predicted position. Detection within the window instead of the whole image helps to reduce

the detection time, which is important for real-time operations. The Kalman corrector is

where
K
k
+ 1
is the Kalman gain, computed as

The covariance matrix
P
is updated as follows:

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