Citation

Ong, Lee Yeng and Lau, Siong Hoe and Koo, Voon Chet (2017) Performance of invariant feature descriptors with adaptive prediction in occlusion handling. In: 2017 3rd International Conference on Control, Automation and Robotics (ICCAR). IEEE, pp. 385-388. ISBN 978-1-5090-6088-7, 978-1-5090-6089-4

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Abstract

Object tracking in computer vision plays an important role for automating the process of video surveillance and robot navigation. The trajectories of every moving object are analyzed to further interpret the events in a scene. Occlusion problem is always the main challenge that interrupts the tracking trajectory and reduces the tracking performance. Thus, this paper aims to investigate an improved performance of invariant feature descriptors in occlusion handling by using adaptive prediction from Kalman filter. The invariant feature descriptors that are extracted from a tracked object are robust against transformation and partial occlusion. These descriptors are combined with Kalman filter prediction to resolve full occlusion in object tracking. Unlike conventional Kalman filter prediction, the error covariance parameters are auto-tuned based on the changing conditions of the feature descriptors in a tracked object. Experiments are conducted to show the response of invariant feature descriptors during partial and full occlusion. The response rate is contributed as the benchmark for parameters tuning in Kalman filter prediction.

Item Type:	Book Section
Uncontrolled Keywords:	Kalman filtering, Adaptation models, Adaptive filters, Computational modeling, Computers
Subjects:	Q Science > QA Mathematics > QA299.6-433 Analysis
Divisions:	Faculty of Information Science and Technology (FIST)
Depositing User:	Ms Rosnani Abd Wahab
Date Deposited:	25 Nov 2020 17:33
Last Modified:	25 Nov 2020 17:35
URII:	http://shdl.mmu.edu.my/id/eprint/7115

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