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Abstract—Real-time object detection and tracking is a vast, of images over frames. Tracking using mean shift kernel is
vibrant yet inconclusive and complex area of computer vision. also introduced. This method performs well when there is
Due to its increased utilization in surveillance, tracking system occlusion, which can be solved using templates [2]. Camshift
used in security and many others applications have propelled
researchers to continuously devise more efficient and competitive (Continously Adaptive Meanshift) can track a single object
algorithms . However, problems emerge in implementing object fast and robust using color features, but it is ineffective for
detection and tracking in real-time; such as tracking under occlusion.
dynamic environment, expensive computation to fit the real-time There is also research on appearance-based object detection
performance, or multi-camera multi-objects tracking make [3]. It uses whole 2-D images to perform tracking for navi-
this task strenuously difficult. Though, many methods and
techniques have been developed, but in this literature review gation in faster time. However, this kind of approach requires
we have discussed some famous and basic methods of object several templates and does not work when the target object,
detection and tracking. In the end we have also given their color or perspective view is changed. The main problem
general applications and results. in object detection and tracking are the temporal variation
of objects due to perspective, occlusion, interaction between
Keywords: real-time, object detection, tracking, surveillance
objects and appearance or disappearance of objects. That cause
the appearance of a target tends to change during a long
I. I NTRODUCTION
tracking. The background in a long image sequence is also
Object tracking, using video sensing technique, is one of dynamic even if it is taken by a stationary camera [4].
the major areas of research due to its increased commercial Detection and tracking of multiple objects at the same time
applications such as surveillance systems, Mobile Robots, is an important issue for real-time performance [5]. The
Medical therapy, security systems and driver assistance sys- comprehensive search in multiple tracking is computational
tems [1]. Object tracking, by definition, is to track an object expensive and incapable of being real-time system. Another
(or multiple objects) over a sequence of images. Tracking is issue is when using the moving camera, instead of using
usually performed on higher-level applications that require the camera with a fixed location, which need the analysis of
location and object in every frame. camera platform coordinate system.
The most popular application in this area is vision-based In this review, five different real-time object detection and
surveillance, to help understand the movement patterns of tracking techniques are analyzed in terms of accuracy, com-
people with suspicious actions. Traffic scene analysis is also a putational time and memory consumption and the best among
well-known application, to get the tracking information for these is proposed for real-time implementation in mobile
keeping the vehicles in lane and preventing the accidents. robots. The techniques are: (1) Object tracking by image dif-
Thus, object detection and tracking under dynamic conditions ferencing [1, 2]. (2) Object tracking by using non-parametric
is still a challenge for real-time performance which requires local transformations [4]. (3) Object tracking by using Mor-
the computational complexity to be minimum. phological based object detection [6]. (4) Object tracking by
Various methods for object detection have been proposed; Kanade Lucas technique [3] and (5) Meanshift algorithm. In
such as feature-based, template-based object detection and the end, based on simulation results, we propose the Kanade-
background subtraction [1]. But selection of the best technique Lucas algorithm to be the most feasible video sensing algo-
for a specific application is relative and dependent upon the rithm for real-time implementation in mobile robots because
hardware resources and scope of the application. Feature-based it achieves the best results of computational time, accuracy
detection searches for corresponding features in successive and memory consumption. The development of technology in
frames, including Harris corner, edges, SIFT, contours or hardware also affects the real-time performance of object de-
colour pixels. tection and tracking. In real-world object tracking system, the
Background subtraction is a popular method which uses static system has to be robust to tackle the changing environments
background and calculating the difference between the hy- with real-time constraint and the limited processing resources
potheses background and the current image. This approach and memory. For example, Ptrack is used as a solution for
is fast and good for fixed background but it cannot deal low-cost, fast, marker-based camera tracking.
with the dynamic environment, with different illumination Consequently, handling complex tracking using only-software
and motions of small objects [2]. The goal of tracking is to solution is not flexible since it is limited of the processing
establish a correspondence between the detected target objects capability under real-time constraints [7]. Real-time applica-
149
Fig. 5: (a) Object delineated by rectangle calculated from
binary silhouette (b). (c) Segmented object
Fig. 3: Census Method: Signature Vector Generation
150
uxX
+wx uy +wy
X
ε(d) = I(x, y, t)−J(x+dx, y +dy, t) (3)
x=ux −wx y=uy −wy
uxX
+wx uy +wy
Ix2
X Ix ∗ Iy
G= (4)
Ix ∗ Iy Iy2
x=ux −wx y=uy −wy
uxX
+wx uy +wy (a) Frame 1: Target Initialization(b) Frame2:Target Mode Finding
X δI ∗ Ix
b= (5)
δI ∗ Iy
x=ux −wx y=uy −wy
151
Another improvement based on traditional mean shift algo-
rithm is to use more features instead of only colour feature.
One method is to combine SIFT features and mean shift track-
ing algorithm. The target is represented by a joint histogram of
two most descriptive features, selected out of 7 colour features
and shape texture feature. The division histogram is used in
to calculate shift vector in order to find the current position
of the target. The target model is updated using the initial (a) Frame 310 (b) Frame 312
target model. The weight of the initial model in the update is
Fig. 8: Lucas Kanade Implementation
determined by the similarity between the initial model and the
current target. The updated model is calculated as shown in
formula. TABLE I: Timing Analysis of Different Methods
ALGORITHM Arithmetic Time taken Program Exe-
and Logic by Algorithm cution time
i operations
Hm = (1 − sic )Hi + sic Hci (8)
Absolute Differ- 4230100 16 13
Where Hi is the initial model; Hci the combined histogram of encing
the current target appearance and the previous target model;
Census 2416000 5. 4 6
and sic the similarity between the initial model and current Transform
target appearance. This method can well moving targets in a
surveillance video. But it fails in case of a very similar object Morphological 352210 14.2 15
Tracking
nearby or long duration of heavy occlusions.
Kanade Lucas 500825 0.486 2
III. APPLICATION AND DISCUSSION
A. Application
There are wide range of application of real-time object which has the magnitude/length and direction.
detection and tracking. For example, for detecting and tracking Moving camera requires the spherical camera platform coordi-
cars that passes on the highway. The tracked cars then will be nate. Hence, as the camera pans move to the left in frame 310
counted by the image processing system in order to provide to frame 312, the feature points on background are tracked
traffic information. Another important and popular application moving to the right diretion. Objects are robustly detected
is for security surveillance. A suspicious movement by a and tracked in real-time on a moving camera platform, by
person can be detected and tracked using the real-time surveil- employing the KLT algorithm at bottom level and SIR particle
lance system. There are rapid development from the industries filter at top level.
in this field to give better performance. Object tracking also
the main issue in mobile robot with vision based. A robot can B. Discussion
track objects and uses the features information to build the Obviously it is difficult to analyze the strengths and weak-
map for localization. nesses of each algorithm on one particular DSP processor
Under more complex environment, the combination from tradi- because each research group use dedicated hardware design
tional and modern methods is applied, such as the background according to application task. Thankfully, Shah [6] recently
subtraction combined with KLT/meanshift. An interesting ap- analyzed different video tracking algorithms on DSP fixedp
plication comes from the paper [1], where the system can point BF537 and from the findings of Shah we summarize the
detect and track objects for outdoor night surveillance. Since results as shown in Table I. Image size used in the experiments
using only the traidtional method cannot achieve the desired is 320 × 240 pixels per frame.
result, they used two stages of algorithm. In the first stage, From the table I, it seems that morphological based tracking
objects are detected using contrast changes measured by taking is computationally more efficient than Kanade Lucas, but the
the inter-frame. In the second stage, motion prediction and problem with morphological based tracking is that it generates
spatial nearest neighbor data association are used to track more than one contour even for single moving object, and its
objects and give feedback to the first stage. This application operations increase exponentially with increase in number of
can be implemented in real-time with more than 25 FPS at contours. Thus it is clear that computationally Kanade Lucas
320 × 240 resolution with a 1.8G CPU. is the most efficient algorithm [3].
1) Lukas-Kanade Method: In the following application[5], The table II also discuss some of the advantages and the
KLT is used as the bottom-level approach to do the real drawbacks from each methods.
time object tracking using multi cameras. The object detection
targets are described by contour labels in different color. IV. CONCLUSION AND FUTURE WORKS
Features points (see Figure 8 , blue dots) are detected by KLT In this literature review, we have analyzed five methods for
algorithm. Optical flow is calculated for every feature point, real time object detection and tracking, in terms of accuracy,
152
computational time and memory consumption. The success of TABLE II: Result Comparison of Different Methods
a video tracking algorithm depends upon the quality of its Technique Strength Weaknesses
response to a high frame- rate input video. The higher the Absolute Dif- 1. Easy to implement 1. Computationally ex-
ferences Tech- 2. Allows continuous pensive. 2. Low accu-
frame-rate is, more difficult it becomes for an algorithm to nique [2][5] tracking despite cessa- racy 3. slow
produce accurate results. Based on the simulation results, we tions in motion videos.
recommend the ’Kanade-Lucas’ algorithm for the hardware FEATURE 1. Can track multiple 1. Object registration
technique objects. 2. Handles the is complex and
(real-time) implementation in mobile robots. The ’Kanade- [1][6] problem of merging computationally slow
Lucas’ algorithm is the fastest, consumes the least memory 2. In case of multiple
and the most accurate with no implementation complexities. objects per frame,
algorithm becomes
It gives high accuracy in the scenarios where the distortion more complex.
is very high. This algorithm is one of the standards in Census 1. Immune to noise and 1. A bit more accurate
motion detection. Because of its iterative nature, it provides Transform Illumination changes. and faster but compu-
technique[13] tationally too expensive.
a good support for the video sequences having high frame 2. Large Memory con-
rates. However, Kanade Lucas algorithm puts an additional sumption.
constraint on the image intensities to be constant between the Lucas 1. Efficient algorithm 1. Takes large mem-
consecutive frames. Kanade with high object detec- ory if window size in-
Transform tion rate. 2. Computa- creases. 2. Algorithm
It is almost impossible to evaluate the fundamental nature of Technique [3] tion time is very less as works on the constraint
each algorithm as some algorithms produce good results in compared to other algo- that brightness will stay
one set of conditions but may not perform well in the other. rithms. 3. Fair response same during the image
against noise and distur- tracking.
For example, an algorithm that tracks object by identifying bances in real scenes. 4.
a specific feature may work very efficiently in one scenario Instruction set is simple.
but in case of video containing different objects with similar Mean Shift 1. Efficient approach to 1. Ineffective when there
tracking objects whose are occlusion problems.
features, it may fail completely. appearance is defined by 2.It can only track single
Therefore, some of the papers use combination of methods to color. moving object.
achieve an appropriate results according to their application.
For example in [5], they applied the bottom-top-level from
the combination of particle filter and KLT tracking for doing [6] L. Braun, D. G
the multiple-object tracking with moving camera. Also, in ”ohringer, T. Perschke, V. Schatz, M. H
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