Professional Documents
Culture Documents
Tracking Fundamentals
Fundamentals (1)
Fundamentals (2)
Applications of object tracking:
motion-based recognition: human identification based on gait, automatic object detection, etc. automated surveillance: monitoring a scene to detect suspicious activities or unlikely events video indexing: automatic annotation and retrieval of videos in multimedia databases human-computer interaction: gesture recognition, eye gaze tracking for data input to computers, etc.
traffic monitoring: real-time gathering of traffic statistics to direct traffic flow vehicle navigation: video-based path planning and obstacle avoidance capabilities
Fundamentals (3)
Tracking task:
In the simplest form, tracking can be defined as the problem of estimating the trajectory of an object in the image plane as it moves around a scene. In other words, a tracker assigns consistent labels to the tracked objects in different frames of a video. Additionally, depending on the tracking domain, a tracker can also provide objectcentric information, such as orientation, area, or shape of an object. Two subtasks:
Fundamentals (4)
Tracking objects can be complex due to:
loss of information caused by projection of 3D world on 2D image noise in images complex object shapes / motion nonrigid or articulated nature of objects partial and full object occlusions scene illumination changes real-time processing requirements
Simplify tracking by imposing constraints: Almost all tracking algorithms assume that the object motion is smooth with no abrupt changes The object motion is assumed to be of constant velocity Prior knowledge about the number and the size of objects, or the object appearance and shape
Kapitel 12* Tracking p. 5
Shape representations: Points. The object is represented by a point, that is, the centroid or by a set of points; suitable for tracking objects that occupy small regions in an image Primitive geometric shapes. Object shape is represented by a rectangle, ellipse, etc. Object motion for such representations is usually modeled by translation, affine, or projective transformation. Though primitive geometric shapes are more suitable for representing simple rigid objects, they are also used for tracking nonrigid objects.
Kapitel 12* Tracking p. 6
Skeletal models. Object skeleton can be extracted by applying medial axis transform to the object silhouette. Skeleton representation can be used to model both articulated and rigid objects.
http://www.cs.toronto.edu/vis/projects/dudekfaceSequence.html
Kapitel 12* Tracking p. 9
Centered at (1,3) with a standard deviation of 3 in roughly the (0.878, 0.478) direction and of 1 in the orthogonal direction
Edges: less sensitive to illumination changes compared to color features. Algorithms that track the object boundary usually use edges as features. Because of its simplicity and accuracy, the most popular edge detection approach is the Canny Edge detector.
Texture: measure of the intensity variation of a surface which quantifies properties such as smoothness and regularity
Kapitel 12* Tracking p. 6 1
Schwche: Doppelbild eines Fahrzeugs (aus dem letzten und aktuellen Bild); Aufteilung einer konstanten Flche
Kapitel 12* Tracking p. 1 2
A. Yilmaz, O. Javed, and M. Shah: Object tracking: A survey. ACM Computing Surveys, Vol. 38, No. 4, 1-45, 2006
(a) Point Tracking. Objects detected in consecutive frames are represented by points, and a point matching is done. This approach requires an external mechanism to detect the objects in every frame. (b) Kernel Tracking. Kernel = object shape and appearance. E.g. kernel = a rectangular template or an elliptical shape with an associated histogram. Objects are tracked by computing the motion (parametric transformation such as translation, rotation, and affine) of the kernel in consecutive frames. (c)+(d) Silhouette Tracking. Such methods use the information encoded inside the object region (appearance density and shape models). Given the object models, silhouettes are tracked by either shape matching (c) or contour evolution (d). The latter one can be considered as object segmentation applied in the temporal domain using the priors generated from the previous frames.
Kapitel 12* Tracking p. 6 2
http://robotics.stanford.edu/~birch/headtracker/
Mean-shift tracking (instead of brute force search). (a) estimated object location at time t 1, (b) frame at time t with initial location estimate using the previous object position, (c), (d), (e) location update using mean-shift iterations, (f) final object position at time t.
Kapitel 12* Tracking p. 1 3