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Particle filtering (PF) and kernel based object tracking (KBOT) algorithms have shown their promises in a wide range of visual tracking contexts. This paper mainly addresses the association of PF and KBOT. Unlike other related association approaches which usually directly use KBOT to refine the position states of propagated particles for more accurate mode seeking, we elucidate the problem of what kind of particles is suitable for employing KBOT to refine their position states from a theoretical point of view. In accordance with the theoretical analysis, a two-stage solution is also proposed to resample propagated particles that are suitable for invoking KBOT from a computational perspective. The incremental Bhattacharyya dissimilarity (IBD) based stage is designed to consistently distinguish the particles located in the object region from the others placed in the background, while the matrix condition number based …