Robust Vehicle Tracking Multi-feature Particle Filter
نویسندگان
چکیده
Object detection and tracking have been studied separately in most cases. Particle filtering has proven very successful for non-linear and nonGaussian estimation problems. This paper presents a new method for tracking moving vehicles with temporal disappearance. The proposed method can continue tracking after disappearance. Color distribution of objects is integrated into particle filtering algorithm. As the color of an object can vary over time dependent on the illumination, a likelihood model is used including color cue and detection cue. Color cue is provided by using Bhattacharyya distance, and detection cue is provided by Euclidean distance. Tests are made by using highway cameras that are located on bridge.
منابع مشابه
Multi-Feature Fusion Based on Particle Filter Algorithm for Moving Target Tracking
Robust moving target tracking has become an important topic in the field of computer vision. The fusion of feature such as color, texture, edge strength and motion has proved to be a promising approach to robust visual tracking in situations where no single feature is suitable. Due to the poor tracking performance in complicated scenarios, a new visual target tracking scheme is proposed. This a...
متن کاملFast Facial Feature Tracking with Multi-Cue Particle Filter
The paper represents an effective and robust facial feature tracking approach based on the multi-cue particle filter. Both color and edge distributions are integrated into the filter to ensure the tracking accuracy. Sub-region color model is used to rapidly depict the spatial layout of each facial feature. Furthermore, the paper uses edge orientation histogram as a complementary feature to enha...
متن کاملA New Robust Object Tracking Algorithm Based on Multi-Feature Fusion
The object tracking by single feature often leads to poor robustness. In this paper, an object tracking algorithm based on multi-features fusion is presented. An adaptive method of choosing object color histogram is presented and the histogram is background weighted in order to get an accurate color model of the object. At meanwhile, then spatiograms feature is applied to obtain spatial layout ...
متن کاملAn Efficient Target Tracking Algorithm Based on Particle Filter and Genetic Algorithm
In this paper, we propose an efficient hybrid Particle Filter (PF) algorithm for video tracking by employing a genetic algorithm to solve the sample impoverishment problem. In the presented method, the object to be tracked is selected by a rectangular window inside which a few numbers of particles are scattered. The particles’ weights are calculated based on the similarity between feature vecto...
متن کاملNonlinear Robust Tracking Control of an Underwater Vehicle-Manipulator System
This paper develops an improved robust multi-surface sliding mode controller for a complicated five degrees of freedom Underwater Vehicle-Manipulator System with floating base. The proposed method combines the robust controller with some corrective terms to decrease the tracking error in transient and steady state. This approach improves the performance of the nonlinear dynamic control scheme a...
متن کامل