METHODS OF OBJECT TRACKING IN VISION SYSTEMS Grzegorz Bieszczad Tutor: Tomasz Sosnowski ph.d. Military University of Technology Faculty of Electronics Institute of Telecommunication

METHODS OF OBJECT TRACKING IN VISION SYSTEMS2/14 Applications Surveillance Video compression Motion capture Traffic control Driving assistance Industry

METHODS OF OBJECT TRACKING IN VISION SYSTEMS3/14 Object tracking f n-1 (x,y) fnfn (u 2,v 2 ) (u 1,v 1 ) (u 3,v 3 )

METHODS OF OBJECT TRACKING IN VISION SYSTEMS4/14 Vision system Image acquisition Object detection Tracking Algorithm Decision algorithms Objects models database

METHODS OF OBJECT TRACKING IN VISION SYSTEMS5/14 Digital image Original image Numeric representation Image representation in points of certain luminosity

METHODS OF OBJECT TRACKING IN VISION SYSTEMS6/14 Methods revision Gradient-based methods Feature-based approaches. Knowledge-based tracking algorithms. Learning-based approaches.

METHODS OF OBJECT TRACKING IN VISION SYSTEMS7/14 Mean shift algorithm 1. Calculate model from given previous image in given location. 2. Initialize the location of the target in the current frame and calculate candidate model. 3. Estimate model and candidate similarity in neighbourhood. 4. Iteratively find the most similar area in target image. 5. Update the model

METHODS OF OBJECT TRACKING IN VISION SYSTEMS8/14 Model and candidate Frame 1 Frame 2

METHODS OF OBJECT TRACKING IN VISION SYSTEMS9/14 Similarity estimation Bhattacharyya coefficient Bhattacharyya coefficient Taylor expansion

METHODS OF OBJECT TRACKING IN VISION SYSTEMS10/14 Mean shift procedure Mean shift operating area Local centroid (centre of mass)

METHODS OF OBJECT TRACKING IN VISION SYSTEMS11/14 Test sequence

METHODS OF OBJECT TRACKING IN VISION SYSTEMS12/14 Tracking in thermovision

METHODS OF OBJECT TRACKING IN VISION SYSTEMS13/14 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 SYSTEMS14/14 Thank you for Your attention!