METHOD AND APPARATUS FOR TRACKING OBJECT, AND METHOD FOR SELECTING TRACKING FEATURE

• US 20150104067A1
• Filed: 10/10/2014
• Published: 04/16/2015
• Est. Priority Date: 10/14/2013
• Status: Abandoned Application

• Current Assignee: Ricoh Company Limited
• Original Assignee: Ricoh Company Limited
• Inventors: LIU, Liyan
• Application Number:
  US14/511,657
• Publication Number:
  US 20150104067A1
• Time in Patent Office: Days
• US Class Current: 382/103
• CPC Class Codes: G06T 2207/10024 Color image
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/20081 Training; Learning
• CPC Class Codes: G06T 2207/30196 Human being; Person
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06V 40/28 Recognition of hand or arm movements, e.g. recognition of deaf sign language static hand signs G06V40/113

Abstract

A method and an apparatus for tracking an object, and a method for selecting a tracking feature are disclosed. The object tracking method includes tracking, based on a previously selected first tracking feature, the object in a sequence of video frames having the object; when a scene of the video frame is changed, selecting a second tracking feature with optimal tracking performance for the changed scene; and continuing tracking the object based on the selected second tracking feature. According to the object tracking method, a feature with optimal tracking performance for a corresponding scene can be dynamically selected in response to the changed scene in the tracking of a hand, thus it is possible to perform accurate tracking.

Claims

1. A method for tracking an object, the method comprising:

tracking, based on a previously selected first tracking feature, the object in a sequence of video frames having the object;

when a scene of the video frame is changed, selecting a second tracking feature with optimal tracking performance for the changed scene; and

continuing tracking the object based on the selected second tracking feature.

2. The method for tracking an object according to claim 1, wherein

selecting the second tracking feature with the optimal tracking performance for the changed scene includes

selecting, based on previously calculated tracking performance of each of the tracking features in each of the scenes of a training data set, the second tracking feature with the optimal tracking performance for the changed scene,

wherein the training data set consists of training video frames in the scenes, the training video frames including the object.

3. The method for tracking an object according to claim 2, wherein

tracking, based on the previously selected first tracking feature, the object in the sequence of the video frames having the object includes

calculating sequentially for every video frame, reliability of a tracking result that is obtained by tracking the object based on the first tracking feature, until a start video frame T with the reliability of the tracking result less than a predetermined reliability threshold, the reliability of the tracking result of a previous video frame T-1 of the start video frame T being greater than or equal to the reliability threshold;

and

continuing tracking the object based on the first tracking feature, and calculating the reliability of the obtained tracking result for every video frame, in k video frames after the start video frame T, where k>

0.

4. The method for tracking an object according to claim 3, wherein

tracking, based on the previously selected first tracking feature, the object in the sequence of the video frames having the object further includes

determining that the scene of the video frame is changed if the tracking object is missed since a video frame of the k video frames or the reliability of the tracking result of the video frame T+k is still less than the reliability threshold, otherwise continuing tracking the object based on the first tracking feature.

5. The method for tracking an object according to claim 4, wherein

selecting, based on the previously calculated tracking performance of each of the tracking features in each of the scenes of the training data set, the second tracking feature with the optimal tracking performance for the changed scene includes

calculating feature distribution of the first tracking feature in k+1 video frames from the video frame T to the video frame T+k;

calculating distances between the feature distribution and previously calculated feature distribution of the first tracking feature in each of the scenes of the training data set;

determining the scene in the training data set, which corresponds to a minimum distance among the distances; and

determining, based on the previously calculated tracking performance of each of the tracking features in each of the scenes of the training data set, the tracking feature with the optimal tracking performance for the scene in the training data set which corresponds to the minimum distance, serving as the second tracking feature.

6. The method for tracking an object according to claim 2, wherein

for a first video frame at the start of the tracking, the tracking is performed based on the tracking feature with optimal average tracking performance in the whole training data set.

7. The method for tracking an object according to claim 6, wherein

the tracking performance is represented by at least one of tracking accuracy, tracking error, and number of times of tracking failure.

8. A method for selecting a tracking feature used for tracking an object, the method comprising:

selecting the tracking feature with optimal tracking performance for a changed scene, in response to a change of the scene of a video frame having the object.

9. An apparatus for tracking an object, the apparatus comprising:

a feature selection unit configured to select a tracking feature with optimal tracking performance for a changed scene and notify a tracking unit of the tracking feature, when the scene of a video frame is changed; and

the tracking unit configured to track, based on the selected tracking feature, the object in a sequence of the video frames having the object.

10. The apparatus for tracking an object according to claim 9, wherein

the feature selection unit selects, based on previously calculated tracking performance of each of the tracking features in each of the scenes of a training data set, the tracking feature with the optimal tracking performance for the changed scene,

wherein the training data set consists of training video frames in the scenes, the training video frames including the object.