I implemented a bootstrap Particle filter on C++ by reading few Papers and I first implemented a 1D mouse tracker which performed really well. I used normal Gaussian for weighting in this exam.
I extended the algorithm to track face using 2 features of Local motion and HSV 32 bin Histogram. In this example my weighing function becomes the probability of Motion x probability of Histogram. (Is this correct).
Incase if that is correct than I am confused on the resampling function. At the moment my resampling function is as follows:
For each Particle N = 50;
- Compute CDF
- Generate a random number (via Gaussian) X
- Update the particle at index X
- Repeat for all N particles.
This is my re-sampling function at the moment. Note: the second step I am using a Random Number via Gaussian distribution for get the index while my weighting function is Probability of Motion and Histogram.
My question is: Should I generate random number using the probability of Motion and Histogram or just the random number via Gaussian is ok.