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Journal article 43229 views 128 downloads

DS-KCF: a real-time tracker for RGB-D data

Sion Hannuna, Massimo Camplani, Jake Hall, Majid Mirmehdi, Dima Damen, Tilo Burghardt, Adeline Paiement, Lili Tao

Journal of Real-Time Image Processing, Volume: 16, Issue: 5, Pages: 1439 - 1458

Swansea University Author: Adeline Paiement

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DOI (Published version): 10.1007/s11554-016-0654-3

Abstract

We propose an RGB-D single-object tracker, built upon the extremely fast RGB-only KCF tracker that is able to exploit depth information to handle scale changes, occlusions, and shape changes. Despite the computational demands of the extra functionalities, we still achieve real-time performance rates...

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Published in: Journal of Real-Time Image Processing
ISSN: 1861-8200 1861-8219
Published: Springer Science and Business Media LLC 2019
Online Access: Check full text

URI: https://cronfa.swan.ac.uk/Record/cronfa31410
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Abstract: We propose an RGB-D single-object tracker, built upon the extremely fast RGB-only KCF tracker that is able to exploit depth information to handle scale changes, occlusions, and shape changes. Despite the computational demands of the extra functionalities, we still achieve real-time performance rates of 35–43 fps in MATLAB and 187 fps in our C++ implementation. Our proposed method includes fast depth-based target object segmentation that enables, (1) efficient scale change handling within the KCF core functionality in the Fourier domain, (2) the detection of occlusions by temporal analysis of the target’s depth distribution, and (3) the estimation of a target’s change of shape through the temporal evolution of its segmented silhouette allows. Finally, we provide an in-depth analysis of the factors affecting the throughput and precision of our proposed tracker and perform extensive comparative analysis. Both the MATLAB and C++ versions of our software are available in the public domain.
Keywords: RGB-D tracking; Correlation filters; Scale and shape changes handling; Occlusion detection; Depth-based segmentation
College: Faculty of Science and Engineering
Issue: 5
Start Page: 1439
End Page: 1458

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