The IPAN Tracker has three basic parameters to be set: the speed limit , the verification depth , and the cost limit .
The upper limit of the speed is a critical parameter: the closer the estimate the better the performance, in both tracking quality and processing time. If is smaller than the actual maximum speed, some links will be lost, as they fall outside the search area. Setting to a `safe' large value is not a good solution either, as the search area looses its selective role: the processing time will grow, together with the probability of false links.
As it was experienced earlier for the original algorithm [2], the verification depth brings a significant improvement in the performance compared to . Further increase of has only minor influence on the tracking accuracy, while the computational load increases. Verification depths should only be considered in the case of extremely dense point sets.
The optimal value of the cost limit depends on the character of motion. For smooth motion, can be set relatively low; to allow for more drastic turns or speed changes, it should to be set closer to . Currently, we use ; however, this setting does not seem to be too critical. Two additional, `hidden' parameters specify the spatial resolution of the search for occluded points in the post-processing procedure. (See section 4.3.) We use and pixel as fixed default values.