SCALABLE AND OCCLUSION-AWARE MULTI-CUES CORRELATION FILTER FOR ROBUST STEREO VISUAL TRACKING
文献类型：期刊论文
| 作者 | Zhu, Zheng1,2 ; Zou, Wei3; Zhang, Feng1
|
| 刊名 | INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
 |
| 出版日期 | 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. |
| WOS关键词 | OBJECT TRACKING |
| 资助项目 | National Key Research and Development Program of China[2018YFB1306303] ; National Natural Science Foundation of China[61773374] |
| WOS研究方向 | Automation & Control Systems ; Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000483927100003 |
| 出版者 | ACTA PRESS |
| 资助机构 | National Key Research and Development Program of China ; National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/23565]  |
| 专题 | 精密感知与控制研究中心_精密感知与控制 |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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