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Tracking Moving Objects in Video Surveillance Systems with Kalman and Particle Filters – A Practical Approach
Abstract
This Chapter focuses on the first type of object tracking algorithms, namely on Kalman and particle filters. A theory of these algorithms may be found in many publications, there are also reports on implementation of these approaches to object tracking in video. However, developers of VCA systems still face two important problems. The first one is related to obtaining accurate measurements of positions and sizes of the tracked objects, required for updating their tracker. It is easy to do if the object is clearly identified in the camera image, but in case of tracking conflicts, obtaining a valid measurement is not trivial The second problem is related to the parameters tuning in the object detection and tracking algorithms, in order to obtain accurate object tracks. Despite the abundance of publications on object tracking in video with these methods, it is not easy to find a clear solution to both problems. This Chapter has therefore two main aims. First, it attempts to fill the abovementioned gap, by describing the influence of the algorithm parameters on the obtained results, and also presenting the problem of obtaining accurate measurements for updating the tracking filter in presence of conflicts. Second, a novel approach that combines Kalman filters with particle filters, is proposed. This dual-type tracker uses the simpler Kalman filter when there are no conflicts, and the more demanding particle tracker only for resolving these conflicts.
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- Category:
- Monographic publication
- Type:
- rozdział, artykuł w książce - dziele zbiorowym /podręczniku w języku o zasięgu międzynarodowym
- Title of issue:
- Surveillance Systems: Design, Applications and Technology strony 55 - 106
- Language:
- English
- Publication year:
- 2017
- Bibliographic description:
- Szwoch G.: Tracking Moving Objects in Video Surveillance Systems with Kalman and Particle Filters – A Practical Approach// Surveillance Systems: Design, Applications and Technology/ ed. Roger Simmons Nowy Jork: Nova Science Publishers, 2017, s.55-106
- Verified by:
- Gdańsk University of Technology
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