8,594 research outputs found
Robust Mobile Object Tracking Based on Multiple Feature Similarity and Trajectory Filtering
This paper presents a new algorithm to track mobile objects in different
scene conditions. The main idea of the proposed tracker includes estimation,
multi-features similarity measures and trajectory filtering. A feature set
(distance, area, shape ratio, color histogram) is defined for each tracked
object to search for the best matching object. Its best matching object and its
state estimated by the Kalman filter are combined to update position and size
of the tracked object. However, the mobile object trajectories are usually
fragmented because of occlusions and misdetections. Therefore, we also propose
a trajectory filtering, named global tracker, aims at removing the noisy
trajectories and fusing the fragmented trajectories belonging to a same mobile
object. The method has been tested with five videos of different scene
conditions. Three of them are provided by the ETISEO benchmarking project
(http://www-sop.inria.fr/orion/ETISEO) in which the proposed tracker
performance has been compared with other seven tracking algorithms. The
advantages of our approach over the existing state of the art ones are: (i) no
prior knowledge information is required (e.g. no calibration and no contextual
models are needed), (ii) the tracker is more reliable by combining multiple
feature similarities, (iii) the tracker can perform in different scene
conditions: single/several mobile objects, weak/strong illumination,
indoor/outdoor scenes, (iv) a trajectory filtering is defined and applied to
improve the tracker performance, (v) the tracker performance outperforms many
algorithms of the state of the art
Computational intelligence approaches to robotics, automation, and control [Volume guest editors]
No abstract available
Online Tracking Parameter Adaptation based on Evaluation
Parameter tuning is a common issue for many tracking algorithms. In order to
solve this problem, this paper proposes an online parameter tuning to adapt a
tracking algorithm to various scene contexts. In an offline training phase,
this approach learns how to tune the tracker parameters to cope with different
contexts. In the online control phase, once the tracking quality is evaluated
as not good enough, the proposed approach computes the current context and
tunes the tracking parameters using the learned values. The experimental
results show that the proposed approach improves the performance of the
tracking algorithm and outperforms recent state of the art trackers. This paper
brings two contributions: (1) an online tracking evaluation, and (2) a method
to adapt online tracking parameters to scene contexts.Comment: IEEE International Conference on Advanced Video and Signal-based
Surveillance (2013
Long-term experiments with an adaptive spherical view representation for navigation in changing environments
Real-world environments such as houses and offices change over time, meaning that a mobile robot’s map will become out of date. In this work, we introduce a method to update the reference views in a hybrid metric-topological map so that a mobile robot can continue to localize itself in a changing environment. The updating mechanism, based on the multi-store model of human memory, incorporates a spherical metric representation of the observed visual features for each node in the map, which enables the robot to estimate its heading and navigate using multi-view geometry, as well as representing the local 3D geometry of the environment. A series of experiments demonstrate the persistence performance of the proposed system in real changing environments, including analysis of the long-term stability
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