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A Geometric Particle Filter for Template-Based Visual Tracking
April 2014 (vol. 36 no. 4)
pp. 625-643
Frank C. Park, Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea
Kyoung Mu Lee, Dept. of Electr. Eng. & Comput. Sci., Seoul Nat. Univ., Seoul, South Korea
Hee Seok Lee, Dept. of Electr. Eng. & Comput. Sci., Seoul Nat. Univ., Seoul, South Korea
Junghyun Kwon, TeleSecurity Sci., Inc., Las Vegas, NV, USA
Existing approaches to template-based visual tracking, in which the objective is to continuously estimate the spatial transformation parameters of an object template over video frames, have primarily been based on deterministic optimization, which as is well-known can result in convergence to local optima. To overcome this limitation of the deterministic optimization approach, in this paper we present a novel particle filtering approach to template-based visual tracking. We formulate the problem as a particle filtering problem on matrix Lie groups, specifically the three-dimensional Special Linear group SL(3) and the two-dimensional affine group Aff(2). Computational performance and robustness are enhanced through a number of features: (i) Gaussian importance functions on the groups are iteratively constructed via local linearization; (ii) the inverse formulation of the Jacobian calculation is used; (iii) template resizing is performed; and (iv) parent-child particles are developed and used. Extensive experimental results using challenging video sequences demonstrate the enhanced performance and robustness of our particle filtering-based approach to template-based visual tracking. We also show that our approach outperforms several state-of-the-art template-based visual tracking methods via experiments using the publicly available benchmark data set.
Index Terms:
Tracking,Visualization,Equations,Mathematical model,Approximation methods,Algebra,Approximation algorithms,Gaussian importance function,Visual tracking,object template,particle filtering,Lie group,special linear group,affine group
Citation:
Frank C. Park, Kyoung Mu Lee, Hee Seok Lee, Junghyun Kwon, "A Geometric Particle Filter for Template-Based Visual Tracking," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 36, no. 4, pp. 625-643, April 2014, doi:10.1109/TPAMI.2013.170
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