Self-correcting Bayesian target tracking
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Abstract Visual tracking, a building block for many applications, has challenges such as occlusions,illumination changes, background clutter and variable motion dynamics that may degrade the tracking performance and are likely to cause failures. In this thesis, we propose Track-Evaluate-Correct framework (self-correlation) for existing trackers in order to achieve a robust tracking. For a tracker in the framework, we embed an evaluation block to check the status of tracking quality and a correction block to avoid upcoming failures or to recover from failures. We present a generic representation and formulation of the self-correcting tracking for Bayesian trackers using a Dynamic Bayesian Network (DBN). The self-correcting tracking is done similarly to a selfaware system where parameters are tuned in the model or different models are fused or selected in a piece-wise way in order to deal with tracking challenges and failures. In the DBN model representation, the parameter tuning, fusion and model selection are done based on evaluation and correction variables that correspond to the evaluation and correction, respectively. The inferences of variables in the DBN model are used to explain the operation of self-correcting tracking. The specific contributions under the generic self-correcting framework are correlation-based selfcorrecting tracking for an extended object with model points and tracker-level fusion as described below. For improving the probabilistic tracking of extended object with a set of model points, we use Track-Evaluate-Correct framework in order to achieve self-correcting tracking. The framework combines the tracker with an on-line performance measure and a correction technique. We correlate model point trajectories to improve on-line the accuracy of a failed or an uncertain tracker. A model point tracker gets assistance from neighbouring trackers whenever degradation in its performance is detected using the on-line performance measure. The correction of the model point state is based on the correlation information from the states of other trackers. Partial Least Square regression is used to model the correlation of point tracker states from short windowed trajectories adaptively. Experimental results on data obtained from optical motion capture systems show the improvement in tracking performance of the proposed framework compared to the baseline tracker and other state-of-the-art trackers. The proposed framework allows appropriate re-initialisation of local trackers to recover from failures that are caused by clutter and missed detections in the motion capture data. Finally, we propose a tracker-level fusion framework to obtain self-correcting tracking. The fusion framework combines trackers addressing different tracking challenges to improve the overall performance. As a novelty of the proposed framework, we include an online performance measure to identify the track quality level of each tracker to guide the fusion. The trackers in the framework assist each other based on appropriate mixing of the prior states. Moreover, the track quality level is used to update the target appearance model. We demonstrate the framework with two Bayesian trackers on video sequences with various challenges and show its robustness compared to the independent use of the trackers used in the framework, and also compared to other state-of-the-art trackers. The appropriate online performance measure based appearance model update and prior mixing on trackers allows the proposed framework to deal with tracking challenges.
AuthorsBiresaw, Tewodros Atanaw
- Theses