Robust visual tracking framework in the presence of blurring by arbitrating appearance- and feature-based detection

Tae Koo Kang, Yung Hak Mo, Dong Sung Pae, Choon Ki Ahn, Myo Taeg Lim

    Research output: Contribution to journalArticlepeer-review

    11 Citations (Scopus)

    Abstract

    This paper proposes a new visual tracking framework and demonstrates its merits via mobile robot experiments. An image sequence from the vision system of a mobile robot is not static when a mobile robot is moving, since slipping and vibration occur. These problems cause image blurring. Therefore, in this paper, we address the problem of robust object tracking under blurring and introduce a novel robust visual tracking framework based on the arbitration of the AdaBoost-based detection method and the appearance-based detection method to overcome the blurring problem. The proposed framework consists of three parts: (1) distortion error compensation and feature extraction using the Modified Discrete Gaussian–Hermite Moment (MDGHM) and fuzzy-based distortion error compensation, (2) object detection using arbitration of appearance- and feature-based object detection, and (3) object tracking using a Finite Impulse Response (FIR) filter. To demonstrate the performance of the proposed framework, mobile robot visual tracking experiments are carried out. The results show that the proposed framework is more robust against blurring than the conventional feature- and appearance-based methods.

    Original languageEnglish
    Pages (from-to)50-69
    Number of pages20
    JournalMeasurement: Journal of the International Measurement Confederation
    Volume95
    DOIs
    Publication statusPublished - 2017 Jan 1

    Bibliographical note

    Funding Information:
    This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (Grant No. NRF-2016R1D1A1B01016071 ).

    Publisher Copyright:
    © 2016 Elsevier Ltd

    Keywords

    • Finite impulse response tracker
    • Mobile robot
    • Modified discrete Gaussian–Hermite moment
    • Object detection
    • Visual object tracking

    ASJC Scopus subject areas

    • Instrumentation
    • Electrical and Electronic Engineering

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