OBJECT CLASSIFICATION

摘要

A method and apparatus for processing an observation of an object to be classified, the method comprising using a particle filter in which an observation of an object to be classified is used to weight particles (a1-a5, b1-b5) on a plurality of models for the object. The method may further comprise performing at least one further iteration of using the particle filter to weight the particles (a1-a5, b1-b5) on the plurality of models for the object using a further observation of the object to be classified.The method may further comprise providing respective classification probabilities that each respective model corresponds to the object based on the weightings of the particles (a1-a5, b1-b5) of the respective model. Each of the respective particles (a1-a5, b1-b5) may be divided into a respective plurality of sub-particles.