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5.1 Active contours                                                                    245

























                                                            (a)




































                                                            (b)

               Figure 5.7 Factored sampling using particle filter in the CONDENSATION algorithm (Isard and Blake 1998)
                c   1998 Springer: (a) each density distribution is represented using a superposition of weighted particles; (b) the
               drift-diffusion-measurement cycle implemented using random sampling, perturbation, and re-weighting stages.
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