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This paper proposes a novel particle filter algorithm for vehicle tracking, which feeds observation information back to state model and integrates block symmetry into observation model. In view of the proposal distribution in traditional particle filter without considering the observation data, a new state transition model which takes the observation into account is presented, so that the allocation of particles is more familiar with the posterior distribution. To track the vehicles in background with similar colors or under partial occlusion, block symmetry is proposed and introduced into the observation model. Experimental results show that the proposed algorithm can improve the accuracy and robustness of vehicle tracking compared with traditional particle filter and Kernel Particle Filter

Vehicle Tracking Algorithm Based on Observation Feedback and Block Symmetry Particle Filter