Figure 3

Kalman filter tracked cell path. The blue line displays the "ground truth" cell path without any influence of noise. The track was taken from the set of smoothed manual tracks of the first video file. The red dots indicate the noisy measurements, which were varied within a standard deviation of five pixels around the original (blue) path. The dashed red line shows the track that would result from taking the noisy measurements as real centroid positions. The track varies strongly around the original blue track. The green line displays the track derived by the Kalman Filter implemented in this project. A main part of the noise is successfully filtered with our approach so that the Kalman track appears much smoother than the track from the noisy measurement. Note that the KF with constant velocity model also performs well at major turning points of the trajectory (black arrows).