Experimental assessment of probabilistic integrated object recognition and tracking methods

Serratosa Casanelles, Francesc; Amézquita Gómez, Nicolás; Alquézar Mancho, René

doi:10.1007/978-3-642-10268-4_96

Experimental assessment of probabilistic integrated object recognition and tracking methods

Serratosa Casanelles, Francesc,Amézquita Gómez, Nicolás,Alquézar Mancho, René

Published: 2009
Publisher: Springer Verlag
DOI: 10.1007/978-3-642-10268-4_96
Repository: upcommons.upc.edu
Language: en

Abstract

This paper presents a comparison of two classifiers that are used as a first step within a probabilistic object recognition and tracking framework called PIORT. This first step is a static recognition module that provides class probabilities for each pixel of the image from a set of local features. One of the implemented classifiers is a Bayesian method based on maximum likelihood and the other one is based on a neural network. The experimental results show that, on one hand, both classifiers (although they are very different approaches) yield a similar performance when they are integrated within the tracking framework. And on the other hand, our object recognition and tracking framework obtains good results when compared to other published tracking methods in video sequences taken with a moving camera and including total and partial occlusions of the tracked object.

Full text

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:   )- 54 4:   54 4 7 -57    4 4 4  +6   7 -57 +   54 )  4 )+4 7 4    7 54       )-47+6   !" 8+6 7 +6   )-  #$ (4 - )  54  54 +6   7   4:)-+6544:)4))  *55++))54 7+6;))4+5))+=<+4   84-4+:):- 4  -  ) )    4  -    )--)4+:) -:+)4 >5 4)+66-)9  8 4 4 4 5 5 4 :  4 4 ): -    / - 7 +6   ))4 4 :   4 + ))  (4     +  +7+?@ 4444+::5754 -975+7544 84))4 +94-4)9?@ (4)944   9       +   (4 4   : )))    54 4 +: - 4 )9+56-:+44 :9- 9)?%A@+4))44-75)4 -4++  (4))))-5)+-54 4-)-):)))4-+6 7?$'@ (4)2:4+4 +4)))++-4)9-4  (4  - 4 ))    -5   : -  )++ -57 - +6   7       (4 4 -4+ B9) )% :5A  %! 0454-C-D 449-+6-4---:) ;54D<4)D-4 +7 >557+-+:  4 7 4 )9 +  4 +6  4 E 4   4  ) - 4 54 )    +   4 ) -  7)-4+6  *  !*8( ;!++ * 8+6   (7< -57 ?$ '@ 5  4 :  4   (4 -  )- +64-;<4 4 - - )++:  ; )++:  ) <   4 )-4)94)++-+4-4+6- 4+7:4-4- ;< *4; <4-4- )-)++: 54 4- +575+44 74)-44: :4 4;<7+: - 4+6-4:)++4)7  - 4  +6   4  544 +  )  )-4+6F))-4   ?$@ -   ) - 4   4   ?'@ -  9-47  &'$ (4      !*8( -57  +  4  -  -4-9))))++- 4)9--- (4-+:+4 :--5: )+))4--4)     4  ; )<  )  - - 44-54+:)9 >4 )++ :)+:4--4)4 4)-4)94) G2 +9-4)- -   -  -  * 4 9 5 + 5 ) 5 )- - 4 4 + )   54 4 !*8( -574:)--  &#   (    $ $ $  0+--;+5H<4) DH  - 4 +7   +  - -  +6 ;/ +7<+5)4--  2:4+444))+++)   ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ∑ = + ==         II I   I I ;<  8)2:4-+)45 -5)J  <)J544))++:   ;<DK;<;<DK;<-+5  +<-)++:-4+7  ;I<DK 54   4 + -  ;+<  544 4 -        4 4 - )  4 -  9 74 - 54475+4+7 -)4 ;<  ( ) ( ) ( ) ∑ = + =       I  I I ;<   4  4 )  )++ 5   4  )++:    D;I;<<-4)9;<  *:+4 )++ ; I < -   +5   ;+6 <  ( 4   4    )  4 +    ) / -5474  44+4--4 G2-)9;<++ L-: 4-4G24$4D$M$M$D%&N$  0  + 4 +  544   )) +: 4   (  --44))54 44-5J  ( ) ( ) ( ) ( )   !   -4+O-OJO <<;P&;J += − + = ;< 544+-4+-;/:<- $)4)-4G2) >4"-4 4+:;-<4)94  )++:    ; I < D ;< K "  54   4 + ) (4+44))54)4 4 - 4 7 E  4  4G2    4 )  -)9;<)44;4 "<-:- D  &%$ *44-;:))<--/ -4+ (4G29-4)-      -    ))  )  4 57  +4    )4  ( 4 : - 4 2: 4 + ):   - 4 +7    ) +:   ) +7   4    + 4 57   4 9) -    4 +7 (457/474 )4;44--54)42:4+<  *F5754/-/4-44) -57+:/-/-))94 ))++-+4);4 <4) -  ?1@  :5:    ))   : - 4 ) )++457);5445:)+5&< +:4+-4))++  )$ L5+4!*8())4754 +6 (4544 54D+6- 7544+4)JKK555/  ) K))KKA 1 N ): (4- 45  --  54  + +     +   ):  54 4 + +6 ))  4     + -- 5-57+5++ :))4+7-44 - 4++;+ 4)JKK555/ ) K))KK+ <  (475447 )567544)-4 -5 )  * 4   4  - 4  7 54       -- ) 5     ;4)JKK555/  ) K))KK)Q < (44N  45544:5:+ 5   (/4  -5E 4      4)JKK555/ ) K))KK(/4Q      4  5  ):  4 BC*8 ) - 4 /4-  4  +  4)JKK555 )  KK4K 4  (4  - 9 - 4)-454G2-4)94)  +6  )  44 8* ;/-/< 55  4   5     5/: ))  +7))+44 L44 4  )4 4  )++ -  4 )  4   5 -4) L4444))++ 5;< *+44))++ 5 ) -  4 )9  4  )   +6 7  4  8*55-4+65:74- 47)  (4-45544-4  : -  9   54 4 -5 J 4 ) -  4   +: BC*8E 4 )   4  - )++  +: 4 -4-E4)44#  ) - 4 7 E 4 + -  4  - : )++E 4 +44#!  +:7;4--4-<E  4 +      + +: 4 7  54 :5 )9 )  )9 +  R: +  4 +6S4+)9))9:+RS+54  44 : )++: 7 + )9 )  )9 +  RS  54  5 )++: 7 : )9  )9 +  R:  +  4 +6S + 54  44 )++:  4   +7)954+45)++:R:+4+6S +  (4 7   54 4 :  +  4)JKK555/  ) K))KKAQ )AQ2: )1Q )1Q2: ) NQ )NQ2: )  )))7-4+645    +: )): 4 9 -5 4 544 :  4 8* 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)++:-4+7 (4-+ 544544G29-4) -4  B 44 4 4 - 4 5 -   -- 4 7-!*8(+4))454 454444+:-!*8(74+6  :     ) - 4 4      : )  4 )- 4  - +6   * 4 9) )544)4-+67!*8(+4+   4 +   - 4  4 4 - 4 4 4  >5+--4454 4 +4 - 4 7   - !*8( 4 + 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J(7J7-) +654)4 *J(4* #- #)(4:)) ;*!!&&1<4T!;&&1< % V T7C   J!--+674  *J &4 *BBB *  L74)  !- B - (7   ;!B(F&&'<;&&'<