An efficient particle filter for color-based tracking in complex scenes

In this paper, we introduce an efficient method for particle selection in tracking objects in complex scenes. Firstly, we improve the proposal distribution function of the tracking algorithm, including current observation, reducing the cost of evaluating particles with a very low likelihood. In addition, we use a partitioned sampling approach to decompose the dynamic state in several stages. It enables to deal with high-dimensional states without an excessive computational cost. To represent the color distribution, the appearance of the tracked object is modelled by sampled pixels. Based on this representation, the probability of any observation is estimated using non-parametric techniques in color space. As a result, we obtain a Probability color Density Image (PDI) where each pixel points its membership to the target color model. In this way, the evaluation of all particles is accelerated by computing the likelihood p(z|x) using the Integral Image of the PDI.

Responsible Participation, Community Engagement and Policing in Transitional Societies: Lessons from a Local Crime Survey in Northern Ireland

The new structures of policing in Northern Ireland have been internationally lauded as a success, but the manner in which police-community relations are unfolding in local settings is less clear. In this article we draw on a local crime survey conducted in a Republican area in Belfast to examine residents’ views of policing and to highlight residents’ concerns about police effectiveness in dealing with crime and disorder. Drawing on Habermas’s concept of ‘responsible participation’, we also consider the role that community organisations can play in helping overcome local scepticism and developing positive forms of engagement with the police. © 2012 The Authors