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Questions tagged [tracking]

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Clutter Model in MOT: joint distribution of a random matrix and its column size variable

Suppose $C_k$ is a random matrix contains columns of measurement vectors that are random variables: $$C_k=[c_k^1,...,c_k^{m_k^c}]$$ $m^c_k$ is the number of columns as well as a random variable. All ...
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18 views

How to correct for “track jumping” for multi-lined time series

I am creating an algorithm that tries to estimate three time-series that should not cross each other (voice formants). The problem is sometimes the algorithm mistakes one time series with another and ...
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25 views

How Do Particle Filters Get Velocity When Tracking with Pos Measurements

I am new to particle filtering. I can see when particle filters are used with Ensemble Kalman's, the velocity of the states are taken care of by the Kalman. When tracking using particle filters ...
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15 views

Optical flow Horn & Schunck smoothness error

I was reading about the Horn & Schunck method and they define the smoothness error as (Robot Control 1988 (SYROCO'88): Selected Papers from the 2nd IFAC Symposium p. 348): $E_{sm} = \iint{\left(...
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14 views

Tracking a signal

I have two signals representing steering wheel angles, one representing the driver’s inputs (red), while the other one represents the system’s reference signal (blue). I want to estimate in real time ...
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17 views

KLT tracker, reject tracked occluded points

I want to use KLT tracker for a visual odometry application. Thus, I only want to track object features. Currently I'm using OpenCV's implementation ...
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27 views

Why does KLT rely on translation model for tracking when an affine model has to be computed iteratively to check the residue?

I am researching KLT tracking algorithm and I came across this paper. It says: However, smaller windows are in general preferable for tracking because they are less likely to straddle a depth ...
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43 views

Understanding performance of Lucas Kanade Iterative Image Registration Technique

I am reading the paper: Lucas, B. D., & Kanade, T. (1981). An iterative image registration technique with an application to stereo vision. I am having some trouble understanding section 4.3 ...
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115 views

How does a Costas Loop lock to one of multiple BPSK signals

I've been looking into how GPS receivers work in terms of signal processing. When a GPS receiver tracks the received signal, it often uses a Costas loop to synchronize the carrier. How that works ...
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32 views

Is my Kalman Filter model reasonable? Using for a 3 wheels rover platform

Background: I'm building a 3 omniwheel rover platform that looks something like this: It has 1 IMU sensors on each of the wheels (3 in total). So in theory, I can get gyroscope and accelerometer data ...
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270 views

GPS signal tracking

I have a complex input signal of 300 ms at baseband. I have already performed acquisition on this signal and acquired four GPS satellites and have the code phase and Doppler frequency of each of them. ...
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1answer
2k views

Using the Kalman filter given acceleration to estimate position and velocity

Note : port from this post, until fully merged. I am reading data from an accelerometer. I want to use this data to estimate velocity and position. Originally, I performed a double integration of ...
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1answer
115 views

IMU speed tracking through known path

new to signal processing and KFiltering here. Thanks for your help. I working with an IMU for a tracking project where the IMU moves throw a known path but at an unknown speed (within limits), the ...
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1answer
168 views

Radar Tracking Algorithms

I would like to know the algorithms to get the angle, range, distance.. so I'm planning to do antenna tracking. What should I do in basic steps to track objects using that module ? what algorithms ...
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1answer
173 views

Frequent update of the Kalman Filter covariance matrices

I have inherited some code that does vehicle localisation based on two main inputs: sensor input from the vehicle odometry and map localisation based on matching camera images to road features. Both ...
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59 views

Mid-point of worm-like objects

I have a video of worm-like objects which move. They can move in a straight line, they can rotate in circles, they can move in a serpentine/winding/sinuous way. I need to track them. I already have ...
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2answers
81 views

Tracking unknown number of signals/coordinates

I have a time series data. Where for every time step I have a varying number of object coordinates. I want to track these over time. There might also be some missing coordinates for a few frames. ...
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1answer
224 views

Transfer function of a PLL Loop Filter that can support a linearly increasing (chirping) frequency

What is a transfer function for a the loop filter of a PLL that can track a sinusoid of the form: \begin{equation} x(t)=\cos\left(2\pi\left(\frac{1}{2}c_0t^2 + f_0t + \phi_0\right)\right) \end{...
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714 views

How to reliably detect the state (opened or closed) of sliding doors from a statically-positioned video stream

I have a mounted (static) camera that has a view of a set of sliding doors. Since doors are rectangular in nature, and they don't have many degrees of freedom, this seems like a problem that should ...
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2answers
192 views

How to choose the “best” measurment (from a given set) as input for a kalman filter?

Problem: For an object tracking scenario with multiple objects and multiple tracks, I want to choose the "best" assignment object<->track. Therefore, I need a parameter indicating how suitable an ...
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52 views

Object Tracking with Improved Detector of Objects Similar to Target

I read this paper and need your help to understand it. Object Tracking with Improved Detector of Objects Similar to Target In paper, particle at the frame $t$ is represented by: $$c^{(i)}_t(i=1,\...
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2answers
2k views

Object detection in binary image

This task comes from tracking object on a steady background. So far I was able to remove the background and obtain binary masks like this: I need to get bounding rectangle of the toy without the ...
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2answers
698 views

Structuring Kalman filter for tracking problem where only position is known

I'm new to Kalman filters and my extensive web search about them has helped me understand the majority of it (or so I think). However I still need some light shed on my problem formulation. I have a ...
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2answers
2k views

Kalman Filter for estimating position with nonconstant velocity & acceleration

I am trying to estimate the position & head direction of a rodent going through a 2D environment (a circular surface of 1m radius). Above his head is an overhead camera which records 4 LEDs ...
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1answer
31 views

How to tune PID parameters to track a family of reference signals?

I have a system that is controlled by a PID controller. I tune the controller to track a reference signal that is a unit step function. Is there a way to extend the obtained results to be able to ...
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1answer
1k views

What does “kernel based” mean?

In my thesis I try to explain what kernel based methods are, especially the meaning for object detection. I know kernel based methods like Mean- and CamShift and I know how to use them. I understand ...
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1answer
20k views

Kalman filter - understanding the noise covariance matrix

What is the significance of the noise covariance matrices in the Kalman Filter framework? I am referring to: process noise covariance matrix Q, and measurement noise covariance matrix R at any ...
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1answer
1k views

Is it possible to do single vehicle tracking using Fourier transform?

I am working on a project in image processing which is based on importance of phase only reconstruction of a signal obtained using Fourier transform.For more information about phase only ...
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169 views

pre-processing to improve feature detector before tracking

I am trying to make tracking for soccer player, I need to detect features from this player and then estimate the distance difference of these pixels over number of frames. first I have to detect the ...
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1answer
774 views

Is my algorithm about blob tracking for vehicle following correct?

I'm doing vehicles tracking project. The video is a one-way, no vehicles occlusion. After doing background subtraction, erosion and dilation, I get bounding box objects for each frame, and I can find $...
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1answer
44 views

Tracking a Predefined Curve in a Series of Images

I have a series of images. I want to be able to draw a curve on the image and track the curve in the series. For example, in the figure below, the left image illustrates the original image at time <...
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49 views

Pedestrian Re-identification during tracking

During the multi-camera tracking, there is a situation where one person moves from one camera's coverage area to another. In that case that person has to be re-identified(as the one from previous ...
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1answer
107 views

Queries on Kalman Filter

I am trying to apply kalman filter for video processing , i am studying about it from different sources but it take me towards question that if i don't know that where my object come in frame mean i ...
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1answer
159 views

Histogram operation for improving visual object tracking

I'm developping a people tracking with nearest neighbour data association technique and kalman filter for smoothing/predicting. The tracker works quite good but sometimes it mismatch objects if they ...
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2answers
270 views

Situations where complexity is too big to exceed linearity and gaussianity

I'm studing about Kalman Filter and Particle Filter in multiple target tracking in computer vision (tracking pedestrians). Reading sientific papers I'm colliding with a lot of sentences like: The ...
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1answer
1k views

How to get more accurate results with OpenCV

I would like to ask about this function in OpenCV: cvTermCriteria( CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, .3 ) How do I get more accurate results - do I need ...
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1answer
2k views

Tracking object that is missing in some frames

I am trying to track small object in videos using LK but the problem is, some time the object does not appear in the frames ! How can I track an object that does not appear in few frames ?? how ...
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2answers
108 views

object level sensor fusion for multiobject tracking

I want to fuse objects coming from several sensors, with different (sometimes overlapping!) fields of view. Having object lists, how can I determine whether some objects observed by different sensors ...
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0answers
477 views

Extended Kalman Filter - how do I get transition functions

I am measuring position and velocity, both have some noise in them. Velocity is defined as derivative of position. The system is apparently non-linear so I need to use EKF. Model: \begin{align} X&...
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35 views

Tracking Acquisition for Directed Scan

My problem: create a device that can take a scan of a target via a camera and a shooting rig (that I am building). The camera is connected to a motor that rotates the camera, and this is connected to ...
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4answers
8k views

Intuitive explanation of tracking with Kalman filters

I would much appreciate an intuitive explanation for (visual) tracking with Kalman filters. what I know: Prediction step: Dynamic system state $\mathbf x_t$: target location at time $t$ Measurement $...
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1answer
9k views

3D Position estimation using 2D camera

I have a camera (iPhone), I have a 3D control object in the image that I know its properties very well. (My control object). There is also a secondary object in motion. The ultimate goal is to ...
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4answers
1k views

Preprocessing to improve Harris corner tracking between video frames?

In our unmanned aerial vehicle grayscale video image stabilization application, we're having difficulty finding the "good" Harris corners in frame N+1 selected from frame N. The source of the ...