Tracking Learning Detection
TrackingLearningDetectionA Camera that Learns.1Why is object
tracking so important ?
surveillance
hand recognition
scene analysisvehicle detectionrobot visionmotion capture
3Outline- Framework- Key ideasWhat is TLD intuitively?How does
TLD work exactly?Experiment ResultsWhy TLD?- Traditional methods-
Challenges to old ways- Tracking- Learning- Detection- TLDWhy TLD
?
Why TLD ?
https://www.youtube.com/watch?v=m-uqKfzzkvM?6Why TLD ?-
Traditional method 1 :TrackingAccumulate error.Fail if the object
disappears. Only need initialization.Appearance changing &
Partial occlusions. (?)
Estimate motion over frames
7
Why TLD ?- Traditional method 2 : DetectionOff-lineLearning
Do not fail if the object disappears. Need off-line
training.Appearance changing & Partial occlusions.
Scan every frame independently8Why TLD ?- Challenges to old
ways
Not fail if the object disappears. Appearance changing. Partial
occlusions.9Why TLD ?- Challenges to old ways
Not fail if the object disappears. Appearance changing. Partial
occlusions.
TLD is an algorithm that can solve all these tasks !10What is
TLD intuitively?
What is TLD intuitively?-
FrameworkTrackingDetectionOff-lineLearning12What is TLD
intuitively?-
FrameworkTrackingDetectionOn-lineLearningUpdateLocationTrajectoryfragmentUpdate13What
is TLD intuitively?- Key ideas 1 : Learning
Track & detectTrackDetectUpdatestraining
examples(add/delete)Update detector
Appearance changing. 14What is TLD intuitively?- Key ideas 2 :
Updating
True trajectoryTrackingDetectionTLD
Not fail if no object.
Partial occlusions.How does TLD work exactly?
16How does TLD work exactly?- Framework
How does TLD work exactly?- Tracking
1.Reliable point selection:
Choose point 1Discard point 2- Use forward-backward selection to
select 50% of the most reliable points.- Forward-backward
selection
18How does TLD work exactly?- Tracking
2.Median-Flow tracker:
Tracks the reliable points between consecutive frames ,and
estimates displacement using median with confidence proportional to
(1/scale of the median).19How does TLD work exactly?- Framework
How does TLD work exactly?- Detection
2bitBPfeaturesScanningwindow
2bitBP featuresIlluminationinvariance2BitBP : invariance to
illuminationRF : fast21How does TLD work exactly?- Detection
RandomForestPosteriors2bitBPfeaturesScanningwindow
Random ForestIf the average posteriors is larger than 50%,
consider it an object
2BitBP : invariance to illuminationRF : fast22How does TLD work
exactly?- Detection
1-NN classifierConfidence
=d-/(d-+d+)RandomForestPosteriors2bitBPfeaturesScanningwindow
Feature space
23How does TLD work exactly?- Framework
Pick the one with higher confidence scoreHow does TLD work
exactly?- Learning
Feature space
25How does TLD work exactly?- Learning
Track & detectTrackDetectUpdatestraining
examples(add/delete)Update detector
26How does TLD work exactly?- Learning :
1610Appearance changingproblem solved!9
27How does TLD work exactly? - Recap : t=0
How does TLD work exactly? - Recap : t=1
Decide by confidence score
How does TLD work exactly? - Recap : t=1
How does TLD work exactly? - Recap : t=2
Remove if false detect
Experiment ResultExperiment Result
More vid33
Experiment Result
Experiment ResultThank you
