PSIVT'07 Proceedings of the 2nd Pacific Rim conference on Advances in image and video technology
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Recent work has shown tracking groups of lines throughthe parameter space represented by a Hough accumulatorarray to be efficient and insensitive to both occlusion andchanges in illumination. Previous methods [Object tracking througha Hough space, Tracking in a Hough space with an extended Kalman filter]have, however, been less robust in the presence of distractions. Distractions are a challenge to trackers of all types, but the problem is heightened in the Hough-based approach as short collinear segments give the same response as an equal length connected line. We describe the application of the Condensation algorithm to tracking peaks through a Hough accumulator array, producing a tracking technique that is efficient and robust under illumination changes, occlusion and distractions.