International Journal of Computer Vision
Pfinder: Real-Time Tracking of the Human Body
IEEE Transactions on Pattern Analysis and Machine Intelligence
Contour Tracking by Stochastic Propagation of Conditional Density
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume I - Volume I
Color-Based Tracking of Heads and Other Mobile Objects at Video Frame Rates
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Elliptical Head Tracking Using Intensity Gradients and Color Histograms
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Integrated Person Tracking Using Stereo, Color, and Pattern Detection
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Segmentation and Tracking of Faces in Color Images
FG '96 Proceedings of the 2nd International Conference on Automatic Face and Gesture Recognition (FG '96)
FG '00 Proceedings of the Fourth IEEE International Conference on Automatic Face and Gesture Recognition 2000
Robust Face Tracking Using Color
FG '00 Proceedings of the Fourth IEEE International Conference on Automatic Face and Gesture Recognition 2000
Real Time Face and Object Tracking as a Component of a Perceptual User Interface
WACV '98 Proceedings of the 4th IEEE Workshop on Applications of Computer Vision (WACV'98)
Face Tracking System Based on Color, Stereovision and Elliptical Shape Features
AVSS '03 Proceedings of the IEEE Conference on Advanced Video and Signal Based Surveillance
Face Cataloger: Multi-Scale Imaging for Relating Identity to Location
AVSS '03 Proceedings of the IEEE Conference on Advanced Video and Signal Based Surveillance
Real-Time 3D Stereo Tracking and Localizing of Spherical Objects with the iCub Robotic Platform
Journal of Intelligent and Robotic Systems
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This paper proposes the use of a particle filter combined with color, depth information and shape features as an efficient and effective way to deal with tracking a head on the basis of image stream coming from a mobile stereovision camera. The head is modeled in the 2D image domain by an ellipse. The color distribution within interior of the ellipse is represented by a color histogram. The color histogram is dynamically updated over time. The length of the ellipse's minor axis is determined on the basis of depth information. The particles representing the candidate ellipses are weighted in each time step in respect of intensity gradient near the edge of the ellipse and matching score of the color histograms representing the interior of an ellipse surrounding the tracked object and currently analyzed one. The proposed algorithm can track a head reliably in cases of temporal occlusions as well as varying illumination conditions by dealing with multiple hypotheses for the pose. Experimental results obtained on long image sequences show the feasibility of our approach to perform tracking a head undergoing complex changes of shape and appearance against a varying background. The tracker has been evaluated in experiments consisting in face tracking with a real mobile agent.