Estimation for Motion in Tracking and Detection Objects with Kalman Filter

This paper presents an investigation of the development of a real-time object tracking system that utilizes computer vision techniques and incorporates pan-tilt control mechanisms. The system architecture includes hardware components such as a camera and a pan-tilt mechanism, and software components such as object detection and tracking algorithms. To achieve efficient and accurate tracking, the Kalman filter, which uses a state-space model, was included in the object tracking process. The proposed system is implemented and evaluated through experiments to demonstrate its feasibility and effectiveness in real-world scenarios. The results indicate that the proposed system is capable of achieving real-time and accurate object tracking, demonstrating its potential for practical applications in various fields.

Real time object tracking is an essential part of surveillance and robot applications. The performance of any object tracking system depends on its accuracy and its ability to deal with various sizes of objects, for better results the tracking should happen at a high speed. Object tracking can be defined as the process of segmenting the region of interest from the video sequence and keeping track of the motion in order to extract useful information. The basic fundamentals of video surveillance such as object detection, tracking and recognition using multiple cameras. Whenever an object enters a video frame, it is detected using background subtraction and the detected objects are tracked with a novel Bayesian Kalman filter with simplified Gaussian mixture (BKF-SGM). Object recognition algorithm is applied using Gait method which is employed to support multiple object tracking with its robust performance. Processing of image is done in MATLAB to get detection, tracking and recognized results.

The aims of this paper is to propose a novel method for solving problem face detection and tracking system based in four algorithms: block-matching (BMA), Meanshift, Camshift and Kalman filter. Firstly, BMA is applied to the different sequential test as a preprocessing stage to detect faces. Then, the face tracking system are with three modules: Meanshift, Camshift and Kalman filter. This scheme gives a better face detection and tracking. Our work increases the performance and other criteria values in the embedded system. The human is more and more interested in producing intelligence which is one of the most impressive features of natures. Researchers are trying to make intelligent machine that have various capabilities. Building a machine or robot is probably one of the most challenging problems which humans are trying to solve. Recently, many projects have started with the purpose of learning machines to track some particular objects. One of the most challenging applications in computer vision is tracking objects efficiently in video sequence. Though progress has been accomplished, the best algorithms are far from reaching the speed and the performance of system. Object or multi-object tracking (face, human, car, etc.) is a fundamental problem that merits particular attention, since it is the key to solve a number of computer vision applications.

This chapter presents a multi-object tracking system using scale space representation of objects, the method of linear assignment and Kalman filter. In this chapter basically two very prominent problems of multi object tracking have been resolved; the two prominent problems are (i) irrespective of the size of the objects, tracking all the moving objects simultaneously and (ii) tracking of objects under partial and/or complete occlusion. The primary task of tracking multiple objects is performed by the method of linear assignment for which few cost parameters are computed depending upon the extracted features of moving objects in video scene. In the feature extraction phase scale space representation of objects have been used. Tracking of occluded objects is performed by Kalman filter.

Improved foreign object tracking algorithm in coal for belt conveyor gangue selection robot with YOLOv7 and DeepSORT

Recently, in computer vision and video surveillance applications, moving object recognition and tracking have become more popular and are hard research issues. When an item is left unattended in a video surveillance system for an extended period of time, it is considered abandoned. Detecting abandoned or removed things from complex surveillance recordings is challenging owing to various variables, including occlusion, rapid illumination changes, and so forth. Background subtraction used in conjunction with object tracking are often used in an automated abandoned item identification system, to check for certain pre-set patterns of activity that occur when an item is abandoned. An upgraded form of image processing is used in the preprocessing stage to remove foreground items. In subsequent frames with extended duration periods, static items are recognized by utilizing the contour characteristics of foreground objects. The edge-based object identification approach is used to classify the identified static items into human and nonhuman things. An alert is activated at a specific distance from the item, depending on the analysis of the stationary object. There is evidence that the suggested system has a fast reaction time and is useful for monitoring in real time. The aim of this study is to discover abandoned items in public settings in a timely manner.

Real time object tracking is the process of locating moving objects over time using the camera in video sequences in real time. The objective of object tracking is to associate target objects in consecutive video frames. Object tracking requires location and shape or features of objects in the video frames. Every tracking algorithm needs to detect moving object. So object detection is the preceding step of object tracking in computer vision applications. After that, detected object can be extracted by the feature of moving object to track that moving object into video scene. It is challenging task in image processing to track the objects into consecutive frames. Various challenges can arise due to complex object motion, irregular shape of object, occlusion of object to object and object to scene and real time processing requirements. Object tracking has a variety of uses, some of which are: surveillance and security, traffic monitoring, video communication, robot vision and animation.

A review of object tracking methods: From general field to autonomous vehicles

Most conventional object tracking algorithms are implemented on general-purpose processors in software due to its great flexibility. However, the real-time performance is hard to achieve due to the inherent characteristics of the sequential processing of these processors. To tackle this issue, a reconfigurable system-on-chip (rSoC) platform with microprocessors and FPGAs is applied in this paper. To simplify the hardware/software interface, a Belief–Desire–Intention (BDI)-based multi-agent architecture is proposed as the unified framework. Then an agent-based task graph and two heuristic partitioning methods are proposed to partition the hardware and software on an rSoC platform. Compared to the module-based architecture, this BDI-based multi-agent architecture provides more efficiency, flexibility, autonomy, and scalability for the real-time tracking systems. A particle swarm optimization (PSO)-based object detection and tracking algorithm is applied to evaluate the proposed architecture. Extensive experimental results of object tracking demonstrate that the proposed architecture is efficient and highly robust with real-time performance.

Object tracking is the main task in the field of computer vision. This chapter proposes and compares a new method for recognition and tracking by using CamShift and color detection. All the presented algorithms were programmed with Python programming language supported by OpenCV libraries, and executed with a credit card–size computer board called Raspberry Pi with attached external camera. A camera mimics and uses real-time digital videos for object recognition and tracking. The chapter also proposes a color detection algorithm in very low light conditions is proposed for the enhancement of target tracking. Mean shift is a nonparametric feature-space analysis technique for locating the maxima of a density function. The CamShift algorithm is dependent on an adaptation of mean shift algorithm. Histogram equalization is a nonlinear technique for adjusting the contrast of an image using its histogram.

This paper presents a comparative study conducted on the performance of the commonly used object tracking and location prediction algorithms for mobile robot navigation in a dynamically cluttered and GPS-denied mining environment. The study was done to test the different algorithms for the same set criteria (such as accuracy and computational time) under the same conditions.The identified commonly used algorithms for object tracking and location prediction of moving objects used in this investigation are Kalman filter (KF), extended Kalman filter (EKF) and particle filter (PF). The study results of those algorithms are analyzed and discussed in this paper. A trade-off was apparent. However, in overall performance KF has shown its competitiveness.The result from the study has found that the KF based algorithm provides better performance in terms of accuracy in tracking dynamic objects under commonly used benchmarks. This finding can be used in development of an efficient robot navigation algorithm.

In this paper a multiple object detection, recognition, and tracking system for unmanned aerial vehicles (UAVs) has been studied. The system can be implemented on any UAVs platform, with the main requirement being that the UAV has a suitable onboard computational unit and a camera. It is intended to be used in a maritime object tracking system framework for UAVs, which enables a UAV to perform multiobject tracking and situational awareness of the sea surface, in real time, during a UAV operation. Using machine vision to automatically detect objects in the camera's image stream combined with the UAV's navigation data, the onboard computer is able to georeference each object detection to measure the location of the detected objects in a local North‐East (NE) coordinate frame. A tracking algorithm which uses a Kalman filter and a constant velocity motion model utilizes an object's position measurements, automatically found using the object detection algorithm, to track and estimate an object's position and velocity. Furthermore, a global‐nearest‐neighbor algorithm is applied for data association. This is achieved using a measure of distance that is based not only on the physical distance between an object's estimated position and the measured position, but also how similar the objects appear in the camera image. Four field tests were conducted at sea to verify the object detection and tracking system. One of the flight tests was a two‐object tracking scenario, which is also used in three scenarios with an additional two simulated objects. The tracking results demonstrate the effectiveness of using visual recognition for data association to avoid interchanging the two estimated object trajectories. Furthermore, real‐time computations performed on the gathered data show that the system is able to automatically detect and track the position and velocity of a boat. Given that the system had at least 100 georeferenced measurements of the boat's position, the position was estimated and tracked with an accuracy of 5–15 m from 400 m altitude while the boat was in the camera's field of view (FOV). The estimated speed and course would also converge to the object's true trajectories (measured by Global Positioning System, GPS) for the tested scenarios. This enables the system to track boats while they are outside the FOV of the camera for extended periods of time, with tracking results showing a drift in the boat's position estimate down to 1–5 m/min outside of the FOV of the camera.

Object detection and tracking under complex environment are challenging because of the disturbances induced by background clutter, illumination changes, occlusions and other factors. The bulk of traditional algorithms basically rely on hand‐crafted features, which are not sufficiently robust to a complex environment. Moreover, the processes of detection and tracking are separated, which leads to the overall efficiency not high. In this study, a novel local probability model (LPM)‐based mean shift (MS) algorithm is proposed to integrate object detection and tracking. The main contributions include: (i) a new framework based on the combination of LPM and MS is established for the integration of object tracking and detection. (ii) For object detection, the training and prediction of LPM are built by stacked denoising autoencoders based deep learning. (iii) For object tracking, an MS tracking algorithm leveraging LPM is modified to improve the tracking efficiency under a complex environment. Experimental results demonstrate that the proposed method is superior to the colour histograms based MS and histograms of oriented gradients based MS in terms of robustness and tracking accuracy.

Object detection and tracking are vital in computer vision and visual surveillance, allowing for the detection, recognition, and subsequent tracking of objects within images or video sequences. These tasks underpin surveillance systems, facilitating automatic video annotation, identification of significant events, and detection of abnormal activities. However, detecting and tracking small objects introduce significant challenges within computer vision due to their subtle appearance and limited distinguishing features, which results in a scarcity of crucial information. This deficit complicates the tracking process, often leading to diminished efficiency and accuracy. To shed light on the intricacies of small object detection and tracking, we undertook a comprehensive review of the existing methods in this area, categorizing them from various perspectives. We also presented an overview of available datasets specifically curated for small object detection and tracking, aiming to inform and benefit future research in this domain. We further delineated the most widely used evaluation metrics for assessing the performance of small object detection and tracking techniques. Finally, we examined the present challenges within this field and discussed prospective future trends. By tackling these issues and leveraging upcoming trends, we aim to push forward the boundaries in small object detection and tracking, thereby augmenting the functionality of surveillance systems and broadening their real-world applicability.

Multi-modal cyber security based object detection by classification using deep learning and background suppression techniques