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Faculty of Electronics Institute o f Telecommunication. Military University of Technology. METHODS OF OBJECT TRACKING IN VISION SYSTEMS. Grzegorz Bieszczad Tutor: Tomasz Sosnowski ph.d. . Applications. Surveillance Video compression Motion capture Traffic control Driving assistance
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Faculty of Electronics Institute of Telecommunication Military University of Technology METHODS OF OBJECT TRACKING IN VISION SYSTEMS Grzegorz Bieszczad Tutor: Tomasz Sosnowski ph.d.
Applications • Surveillance • Video compression • Motion capture • Traffic control • Driving assistance • Industry METHODS OF OBJECT TRACKING IN VISION SYSTEMS
Object tracking fn-1 (x,y) fn (u1,v1) (u2,v2) (u3,v3) METHODS OF OBJECT TRACKING IN VISION SYSTEMS
Objects models database Image acquisition Object detection Tracking Algorithm Decision algorithms Vision system METHODS OF OBJECT TRACKING IN VISION SYSTEMS
Digital image Original image Image representation in points of certain luminosity Numeric representation METHODS OF OBJECT TRACKING IN VISION SYSTEMS
Methods revision • Gradient-based methods • Feature-based approaches. • Knowledge-based tracking algorithms. • Learning-based approaches. METHODS OF OBJECT TRACKING IN VISION SYSTEMS
Mean shift algorithm • Calculate model from given previous image in given location. • Initialize the location of the target in the current frame and calculate candidate model. • Estimate model and candidate similarity in neighbourhood. • Iteratively find the most similar area in target image. • Update the model METHODS OF OBJECT TRACKING IN VISION SYSTEMS
Model and candidate Frame 1 Frame 2 METHODS OF OBJECT TRACKING IN VISION SYSTEMS
Similarity estimation Bhattacharyya coefficient Bhattacharyya coefficient Taylor expansion METHODS OF OBJECT TRACKING IN VISION SYSTEMS
Mean shift procedure Local centroid (centre of mass) Mean shift operating area METHODS OF OBJECT TRACKING IN VISION SYSTEMS
Test sequence METHODS OF OBJECT TRACKING IN VISION SYSTEMS
Tracking in thermovision METHODS OF OBJECT TRACKING IN VISION SYSTEMS
Conclusions • Feature based method • Invariant to rotation and scale • Fast implementation • Tolerant to partial occlusions • Tolerant to changes of appearance • Limited range • Limited performance in low resolution images METHODS OF OBJECT TRACKING IN VISION SYSTEMS
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