Abstract
This work presents a novel object tracking approach, where the motion model is learned from sets of frame-wise detections with unknown associations. We employ a higher-order Markov model on position space instead of a first-order Markov model on a high-dimensional state-space of object dynamics. Compared to the latter, our approach allows the use of marginal rather than joint distributions, which results in a significant reduction of computation complexity. Densities are represented using a grid-based approach, where the rectangular windows are replaced with estimated smooth Parzen windows sampled at the grid points. This method performs as accurately as particle filter methods with the additional advantage that the prediction and update steps can be learned from empirical data. Our method is compared against standard techniques on image sequences obtained from an RC car following scenario. We show that our approach performs best in most of the sequences. Other potential applications are surveillance from cheap or uncalibrated cameras and image sequence analysis.
The research leading to these results has received funding from the European Community’s 7th Framework Programme (FP7/2007-2013) under grant agreement n° 215078 DIPLECS.
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Felsberg, M., Larsson, F. (2009). Learning Higher-Order Markov Models for Object Tracking in Image Sequences. In: Bebis, G., et al. Advances in Visual Computing. ISVC 2009. Lecture Notes in Computer Science, vol 5876. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10520-3_17
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