Robust regression methods for computer vision: a review
International Journal of Computer Vision
Numerical recipes in C (2nd ed.): the art of scientific computing
Numerical recipes in C (2nd ed.): the art of scientific computing
Using bilateral symmetry to improve 3D reconstruction from image sequences
Computer Vision and Image Understanding
EigenTracking: Robust Matching and Tracking of Articulated Objects Using a View-Based Representation
International Journal of Computer Vision
Efficient Region Tracking With Parametric Models of Geometry and Illumination
IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
Hierarchical Model-Based Motion Estimation
ECCV '92 Proceedings of the Second European Conference on Computer Vision
Moving Target Classification and Tracking from Real-time Video
WACV '98 Proceedings of the 4th IEEE Workshop on Applications of Computer Vision (WACV'98)
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Lucas-Kanade 20 Years On: A Unifying Framework
International Journal of Computer Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robust template tracking with drift correction
Pattern Recognition Letters
On Symmetry, Perspectivity, and Level-Set-Based Segmentation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Journal of Computer and System Sciences
Fast motion estimation using bidirectional gradient methods
IEEE Transactions on Image Processing
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We present a novel variant of the Lucas-Kanade algorithm for tracking bilaterally symmetric planar objects. We show that those warping parameters which disturb the symmetry (e.g. translation perpendicular to the axis of symmetry, rotation in the plane of the object, shear) can be found without making use of a reference template, by minimizing the dissimilarity between the warped object and its mirror image. This fact enables us to decompose the tracking task of a symmetric object undergoing a complex motion into two independent tasks, i.e. two trackers running sequentially. The first, symmetry-based, tracker finds the warping parameters which disturb the object's symmetry, while the second, a conventional Lucas-Kanade tracker which uses a reference template, completes the tracking by updating all other parameters (e.g. scale in both axes, translation parallel to the symmetry axis). The advantage of our method is that it allows decomposing an optimization process with many variables into two independent sub-processes, each one having less degrees of freedom, and hence much more robust. In case that the motion involves only parameters which disturb the symmetry, then employing the symmetry-based tracker alone is sufficient, and in this case no a priori reference template is required. We demonstrate our method by tracking a pedestrian walking along a straight path (1D translation) and a vehicle performing a turn (affine skew symmetry). The proposed algorithm is capable to cope with any warping transformation and can be generalized for the case of objects possessing higher symmetry.