SCALABLE AND OCCLUSION-AWARE MULTI-CUES CORRELATION FILTER FOR ROBUST STEREO VISUAL TRACKING

doi:10.2316/J.2019.206-0108

	SCALABLE AND OCCLUSION-AWARE MULTI-CUES CORRELATION FILTER FOR ROBUST STEREO VISUAL TRACKING
	Zhu, Zheng1,2 ; Zou, Wei3 ; Zhang, Feng1
刊名	INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
	2019
卷号	34 期号:5 页码:477-490
关键词	Depth information stereo tracking visual tracking
ISSN号	0826-8185
DOI	10.2316/J.2019.206-0108
通讯作者	Zou, Wei(wei.zou@ia.ac.cn)
英文摘要	Depth provided by binocular vision systems is extra information for stereo visual tracking, which has less distance limitation and can work well in outdoor environment compared to red-green-blue-depth (RGB-D) cameras. By fusing depth with edge and colour features, a stereo tracking algorithm named scalable and occlusion-aware multi-cues correlation filter tracker (SOMCFT) is proposed in this paper, which consists of multi-cue correlation filter tracker (MCFT), scale handling and occlusion-aware strategy. In MCFT, the confidence maps drawn from all the features are filtered by each other, and then an optimal confidence map is determined by minimizing the sum of Kullback-Leibler divergence. In scale handling, the target is segmented by 2D grey-depth histograms, and then a quantized set is used to guide the scale variants of bounding boxes. In occlusion-aware strategy, the start and end of occlusion is detected by combining the changes of depth and the results of MCFT; meanwhile, a reasonable candidate region is determined during occlusion. Both qualitative and quantitative evaluations on the stereo tracking dataset demonstrate that the proposed SOMCFT algorithm performs favourably when compared with other methods. Our algorithm outperforms the second-ranked method by 5.4% in success score and 14.59% in precision score.
资助项目	National Key Research and Development Program of China[2018YFB1306303] ; National Natural Science Foundation of China[61773374]
WOS关键词	OBJECT TRACKING
WOS研究方向	Automation & Control Systems ; Robotics
语种	英语
出版者	ACTA PRESS
WOS记录号	WOS:000483927100003
资助机构	National Key Research and Development Program of China ; National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/27331]
专题	中国科学院自动化研究所
通讯作者	Zou, Wei
作者单位	1.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China 2.Univ Chinese Acad Sci, Beijing, Peoples R China 3.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Zhu, Zheng,Zou, Wei,Zhang, Feng. SCALABLE AND OCCLUSION-AWARE MULTI-CUES CORRELATION FILTER FOR ROBUST STEREO VISUAL TRACKING[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,2019,34(5):477-490.
APA	Zhu, Zheng,Zou, Wei,&Zhang, Feng.(2019).SCALABLE AND OCCLUSION-AWARE MULTI-CUES CORRELATION FILTER FOR ROBUST STEREO VISUAL TRACKING.INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,34(5),477-490.
MLA	Zhu, Zheng,et al."SCALABLE AND OCCLUSION-AWARE MULTI-CUES CORRELATION FILTER FOR ROBUST STEREO VISUAL TRACKING".INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 34.5(2019):477-490.