• Title, Summary, Keyword: Object Tracking

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The Camera Tracking of Real-Time Moving Object on UAV Using the Color Information (컬러 정보를 이용한 무인항공기에서 실시간 이동 객체의 카메라 추적)

  • Hong, Seung-Beom
    • Journal of the Korean Society for Aviation and Aeronautics
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    • v.18 no.2
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    • pp.16-22
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    • 2010
  • This paper proposes the real-time moving object tracking system UAV using color information. Case of object tracking, it have studied to recognizing the moving object or moving multiple objects on the fixed camera. And it has recognized the object in the complex background environment. But, this paper implements the moving object tracking system using the pan/tilt function of the camera after the object's region extraction. To do this tracking system, firstly, it detects the moving object of RGB/HSI color model and obtains the object coordination in acquired image using the compact boundary box. Secondly, the camera origin coordination aligns to object's top&left coordination in compact boundary box. And it tracks the moving object using the pan/tilt function of camera. It is implemented by the Labview 8.6 and NI Vision Builder AI of National Instrument co. It shows the good performance of camera trace in laboratory environment.

Specified Object Tracking Problem in an Environment of Multiple Moving Objects

  • Park, Seung-Min;Park, Jun-Heong;Kim, Hyung-Bok;Sim, Kwee-Bo
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.11 no.2
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    • pp.118-123
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    • 2011
  • Video based object tracking normally deals with non-stationary image streams that change over time. Robust and real time moving object tracking is considered to be a problematic issue in computer vision. Multiple object tracking has many practical applications in scene analysis for automated surveillance. In this paper, we introduce a specified object tracking based particle filter used in an environment of multiple moving objects. A differential image region based tracking method for the detection of multiple moving objects is used. In order to ensure accurate object detection in an unconstrained environment, a background image update method is used. In addition, there exist problems in tracking a particular object through a video sequence, which cannot rely only on image processing techniques. For this, a probabilistic framework is used. Our proposed particle filter has been proved to be robust in dealing with nonlinear and non-Gaussian problems. The particle filter provides a robust object tracking framework under ambiguity conditions and greatly improves the estimation accuracy for complicated tracking problems.

OnBoard Vision Based Object Tracking Control Stabilization Using PID Controller

  • Mariappan, Vinayagam;Lee, Minwoo;Cho, Juphil;Cha, Jaesang
    • International Journal of Advanced Culture Technology
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    • v.4 no.4
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    • pp.81-86
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    • 2016
  • In this paper, we propose a simple and effective vision-based tracking controller design for autonomous object tracking using multicopter. The multicopter based automatic tracking system usually unstable when the object moved so the tracking process can't define the object position location exactly that means when the object moves, the system can't track object suddenly along to the direction of objects movement. The system will always looking for the object from the first point or its home position. In this paper, PID control used to improve the stability of tracking system, so that the result object tracking became more stable than before, it can be seen from error of tracking. A computer vision and control strategy is applied to detect a diverse set of moving objects on Raspberry Pi based platform and Software defined PID controller design to control Yaw, Throttle, Pitch of the multicopter in real time. Finally based series of experiment results and concluded that the PID control make the tracking system become more stable in real time.

A New Approach for Multiple Object Tracking ? Discrete Event based Multiple Object Tracking (DEMOT)

  • Kim, Chi-Ho;You, Bum-Jae;Kim, Hag-Bae;Oh, Sang-Rok
    • 제어로봇시스템학회:학술대회논문집
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    • pp.1134-1139
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    • 2003
  • Tracking is a fundamental technique which is able to be applied to gesture recognition, visual surveillance, tangible agent and so forth. Especially, multiple object tracking has been extensively studied in recent years in order to perform many and more complicated tasks. In this paper, we propose a new approach of multiple object tracking which is based on discrete event. We call this system the DEMOT (Discrete Event based Multiple Object Tracking). This approach is based on the fact that a multiple object tracking can have just four situations - initiation, continuation, termination, and overlapping. Here, initiation, continuation, termination, and overlapping constitute a primary event set and this is based on the change of the number of extracted objects between a previous frame and a current frame. This system reduces computational costs and holds down the identity of all targets. We make experiments for this system with respect to the number of targets, each event, and processing period. We describe experimental results that show the successful multiple object tracking by using our approach.

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Simple Online Multiple Human Tracking based on LK Feature Tracker and Detection for Embedded Surveillance

  • Vu, Quang Dao;Nguyen, Thanh Binh;Chung, Sun-Tae
    • Journal of Korea Multimedia Society
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    • v.20 no.6
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    • pp.893-910
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    • 2017
  • In this paper, we propose a simple online multiple object (human) tracking method, LKDeep (Lucas-Kanade feature and Detection based Simple Online Multiple Object Tracker), which can run in fast online enough on CPU core only with acceptable tracking performance for embedded surveillance purpose. The proposed LKDeep is a pragmatic hybrid approach which tracks multiple objects (humans) mainly based on LK features but is compensated by detection on periodic times or on necessity times. Compared to other state-of-the-art multiple object tracking methods based on 'Tracking-By-Detection (TBD)' approach, the proposed LKDeep is faster since it does not have to detect object on every frame and it utilizes simple association rule, but it shows a good object tracking performance. Through experiments in comparison with other multiple object tracking (MOT) methods using the public DPM detector among online state-of-the-art MOT methods reported in MOT challenge [1], it is shown that the proposed simple online MOT method, LKDeep runs faster but with good tracking performance for surveillance purpose. It is further observed through single object tracking (SOT) visual tracker benchmark experiment [2] that LKDeep with an optimized deep learning detector can run in online fast with comparable tracking performance to other state-of-the-art SOT methods.

A Fast Semiautomatic Video Object Tracking Algorithm (고속의 세미오토매틱 비디오객체 추적 알고리즘)

  • Lee, Jong-Won;Kim, Jin-Sang;Cho, Won-Kyung
    • Proceedings of the KIEE Conference
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    • pp.291-294
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    • 2004
  • Semantic video object extraction is important for tracking meaningful objects in video and object-based video coding. We propose a fast semiautomatic video object extraction algorithm which combines a watershed segmentation schemes and chamfer distance transform. Initial object boundaries in the first frame are defined by a human before the tracking, and fast video object tracking can be achieved by tracking only motion-detected regions in a video frame. Experimental results shows that the boundaries of tracking video object arc close to real video object boundaries and the proposed algorithm is promising in terms of speed.

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Object Tracking Framework of Video Surveillance System based on Non-overlapping Multi-camera (비겹침 다중 IP 카메라 기반 영상감시시스템의 객체추적 프레임워크)

  • Han, Min-Ho;Park, Su-Wan;Han, Jong-Wook
    • Journal of the Korea Institute of Information Security & Cryptology
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    • v.21 no.6
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    • pp.141-152
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    • 2011
  • Growing efforts and interests of security techniques in a diverse surveillance environment, the intelligent surveillance system, which is capable of automatically detecting and tracking target objects in multi-cameras environment, is actively developing in a security community. In this paper, we propose an effective visual surveillance system that is avaliable to track objects continuously in multiple non-overlapped cameras. The proposed object tracking scheme consists of object tracking module and tracking management module, which are based on hand-off scheme and protocol. The object tracking module, runs on IP camera, provides object tracking information generation, object tracking information distribution and similarity comparison function. On the other hand, the tracking management module, runs on video control server, provides realtime object tracking reception, object tracking information retrieval and IP camera control functions. The proposed object tracking scheme allows comprehensive framework that can be used in a diverse range of application, because it doesn't rely on the particular surveillance system or object tracking techniques.

A Method of Tracking Object using Particle Filter and Adaptive Observation Model

  • Kim, Hyoyeon;Kim, Kisang;Choi, Hyung-Il
    • Journal of the Korea Society of Computer and Information
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    • v.22 no.1
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    • pp.1-7
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    • 2017
  • In this paper, we propose an efficient method that is tracking an object in real time using particle filter and adaptive observation model. When tracking object, it happens object shape variation by camera or object movement in variety environments. The traditional method has an error of tracking from these variation, because it has fixed observation model about the selected object by the user in the initial frame. In order to overcome these problems, we propose a method that updates the observation model by calculating the similarity between the used observation model and the eight-way of edge model from the current position. If the similarity is higher than the threshold value, tracking the object using updated observation model to reset observation model. On the contrary to this, the algorithm which consists of a process is to maintain the used observation model. Finally, this paper demonstrates the performance of the stable tracking through comparison with the traditional method by using a number of experimental data.

Object Tracking based on Weight Sharing CNN Structure according to Search Area Setting Method Considering Object Movement (객체의 움직임을 고려한 탐색영역 설정에 따른 가중치를 공유하는 CNN구조 기반의 객체 추적)

  • Kim, Jung Uk;Ro, Yong Man
    • Journal of Korea Multimedia Society
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    • v.20 no.7
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    • pp.986-993
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    • 2017
  • Object Tracking is a technique for tracking moving objects over time in a video image. Using object tracking technique, many research are conducted such a detecting dangerous situation and recognizing the movement of nearby objects in a smart car. However, it still remains a challenging task such as occlusion, deformation, background clutter, illumination variation, etc. In this paper, we propose a novel deep visual object tracking method that can be operated in robust to many challenging task. For the robust visual object tracking, we proposed a Convolutional Neural Network(CNN) which shares weight of the convolutional layers. Input of the CNN is a three; first frame object image, object image in a previous frame, and current search frame containing the object movement. Also we propose a method to consider the motion of the object when determining the current search area to search for the location of the object. Extensive experimental results on a authorized resource database showed that the proposed method outperformed than the conventional methods.

Effective Covariance Tracker based on Adaptive Foreground Segmentation in Tracking Window (적응적인 물체분리를 이용한 효과적인 공분산 추적기)

  • Lee, Jin-Wook;Cho, Jae-Soo
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.8
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    • pp.766-770
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    • 2010
  • In this paper, we present an effective covariance tracking algorithm based on adaptive size changing of tracking window. Recent researches have advocated the use of a covariance matrix of object image features for tracking objects instead of the conventional histogram object models used in popular algorithms. But, according to the general covariance tracking algorithm, it can not deal with the scale changes of the moving objects. The scale of the moving object often changes in various tracking environment and the tracking window(or object kernel) has to be adapted accordingly. In addition, the covariance matrix of moving objects should be adaptively updated considering of the tracking window size. We provide a solution to this problem by segmenting the moving object from the background pixels of the tracking window. Therefore, we can improve the tracking performance of the covariance tracking method. Our several simulations prove the effectiveness of the proposed method.