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In this algorithm, it is required to specify the covariance matrices of the process noise and measurement noise based on prior knowledge.However, improper assignment of these noise covariance matrices leads to unreliable estimation and misleading uncertainty estimation on the system state and model parameters. To resolve these problems, we propose a Bayesian probabilistic algorithm for online estimation of the noise parameters which are used to characterize the noise covariance matrices.

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The tracking therefore may fail if the appearance of the object varies substantially.

Assume the key appearances of the object can be acquired before tracking, the manifold of the object appearance can be approximated by some piece-wise linear combination of these key appearances in histogram space.

The updating histogram would improve meanshift tracking accuracy and reliability, and the model parameters infer the state of the object with respect to the key appearances.

We applied this approach to track human head motion and to infer the head pose simultaneously in videos. (2006) Online Updating Appearance Generative Mixture Model for Meanshift Tracking.

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