Target tracking for mobile robot platforms via object matching and background anti-matching

Authors:
Xuguang Zhang;Honghai Liu;Xiaoli Li
Affiliations:
Key Lab of Industrial Computer Control Engineering of Hebei Province, Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, People's Republic of China;Intelligent Systems & Biomedical Robotics Group, School of Creative Technologies, University of Portsmouth, Eldon Building, Winston Churchill Avenue, Portsmouth, England, PO1 2DJ, UK;Key Lab of Industrial Computer Control Engineering of Hebei Province, Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, People's Republic of China
Venue:
Robotics and Autonomous Systems
Year:
2010

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Abstract

This study proposes a novel method for target tracking based on the combination of object matching and background anti-matching which take account of both the global property of covariance matching and local property of mean shift tracking synthetically. In the background anti-matching phrase, a certain number of background regions are extracted based on the feature of color orientation codes via an entropy filter, and the covariance matrix is adapted to match these regions to get the global motion of the background; further, the object matching is carried out by a mean-shift tracking algorithm. The proposed method is evaluated in various datasets in comparison with their counterpart algorithms; experimental results sufficiently demonstrate the effectiveness of the method proposed in this study.