Automatic Target Tracking System Using Computer Vision

International Journal of Research in Advanced Technology - IJORAT
Vol 2, Issue 3, MARCH 2016
Automatic Target Tracking System

Using Computer Vision
Prakash.P, Gowthami.P, Sathishkumar.V.S
Assistant Professor, Department of ECE, Surya Engineering College, Erode, India
Assistant Professor, Department of EEE, Surya Engineering College, Erode, India
Assistant Professor, Department of ECE, Nandha Engineering College, Erode, India
Abstract: The project is an automated tactical device which performs pre-programmed stealthmission operations,
unaided by human interferenceand is most effective at the night. We utilize an infra-red camera to take continuous
images of the area that has to be monitored. A laser gun is used for assault but the unit can be fitted with a range of
different weapons. An infra-red camera is used to capture video and the obtained digital images are continually
processed using programs in MATLAB and when desired conditions are reached, the output is sent to Arduino Uno
microcontroller via com port. The data is then used to control a laser gun. The infra-red camera takes image which
consists of heat signatures of human image. The target is fixed in the coding to be at the highest intensity of the
infra-red rays in the image and shooting angle is determined. The microcontroller used in this project is used to
interface the output of the MATLAB to the motor.
Keywords:Arduino; Target tracking; Capture Video; Digital Image Processing; MATLAB
I. INTRODUCTION
Human detection and tracking are importantcomponents
of video analytics (VA) in multi-camerasurveillance.
This paper proposes a framework for achieving these
tasks in a multi-camera network. The proposed system
configuration is different from existing multimeresurveillance systems in which utilize common
image information extracted from similar field of views
(FOVs) to improve the object detection and tracking. Our
basic idea was to develop a weather station which is easy
to use with different technologies (Smartphone, Internet,
performance. However, in practice, such camera setup
may not be easily achieved because of economical
concern, topology limitation, etc. Therefore, we focus on
the non-overlapping multi-camera scenario in this paper,
and our main objective is to develop reliable and robust
object detection and tracking algorithms for such
environment. Automatic object detection is usually the
first task in a multi-camera surveillance system and
background modelling (BM) is commonly used to extract
predefined information such as objects shape, geometry
and etc., for further processing. Pixel-based adaptive
Gaussian mixture modelling (AGMM) is one of the most
popular algorithms for BM where object detection is
formulated as an independent pixeldetection problem. It
is invariant to gradually light change,slightly moving
background and fluttering objects. However,it usually
yields
unsatisfactory
foreground
information
(objectmask) for object tracking due to sensor noise and
inappropriate GM update rate, which will lead to holes,
unclosed shape and inaccurate boundary of the extracted
object. While sensor noise can
Be suppressed through appropriate filtering, it is difficult
to find an optimum update rate of the model because
All Rights Reserved 2016 IJORAT
different objects behave differently in the scene.

Furthermore, important information of the object such as
edge and shape are not utilized in such method.
Therefore, the performance of subsequent operations
such as object tracking and recognition will be degraded.
In this paper, a mean shift (MS)-based segmentation
algorithm is proposed for improving the object mask
obtained by AGMM. By using the segmentation
information, holes within the mask can be significantly
reduced through in painting and better alignment
between the object boundary and those of the mask can
be obtained. Occlusion of moving objects is a major
problem inmulti-camera surveillance systems. In existing
multi-camerasurveillance systems, occlusion problem is
addressed by fusing the BM information obtained from
the overlapped image information in adjacent cameras.
These approaches,however, are not directly applicable to
our non-overlappingsetup. Therefore we propose to use
stereo cameras, which offer additional depth information
to resolve the occlusion problem.
Developing intelligent driver assistance system using
thermal infrared (IR) imagery is being paid a lot of
attention. Researches are mainly focused on recognizing
IR images of their silhouette.Therefore, intelligent
recognition
system
based
on
thermalimages
characteristics is presented in this paper. The proposed
by employingnew thermal distributed features of IR
images. The distribution of temperature with in the
human body yields an artificial heat map which indicates
a high temperature region at the human heart location.
On the contrary, non-living objects contain no variation
of temperature throughout itself. Fur thermo, average
luminance within human body demonstrates adequate
element. Average luminance of upper body is higher
than lower body's while average luminance of both
1

right and left side are almost same. This enables

the recognition in condition of obstacles-existence. In
particular, the proposed intelligent recognition system
utilizes feasible and low-cost approach, compared to
prior works.
Fig 1. Distribution of human temperature region
The extracted thermal regions are segmented into 3

x 3 blocks beforehand, in order to compute the average
luminance for each block. The average luminance
related with temperature distribution, where average
luminance and yaxis coordinate are proportional to each
other. Meanwhile,average luminance is almostsame
within
x-axis coordinate. By employingthis feature,
the pedestrian recognition is enabled even though the
previous features are futile. The general definition of
average luminance, Av is described as the total of
each pixel's intensity in thermal region, IE divided by
total pixel within thermal region,is shown as below:
Each generated area using multiple threshold method

and labelling shows unique correlation among each
other. The centroid pointand thermalregions arealso
demonstrating relevant characteristic for this system.
III. SCOPE OF RESEARCH
Figure 2. Description of high, medium and low

temperature region within selected regions
II. RELATED WORK

The
proposed
approach
was
conductedusing
thermalimages captured by camera mounted on test
vehicle. The presented method applied real-time
process in order to employ in pedestrian protection
system, thus the computing time per images was
also regarded at the end of process including
detection rate.Each generated area using multiple
threshold method
and labelling
shows
unique
correlation among each other. The centroid point and
thermal
regions arealso demonstrating relevant
characteristic for this system. Coordinate of x-axis
arealmost similar, however the y-axisshow increasing
tendency as the temperature rises. The Centroid point
of high, medium and low temperature regions are
calculated using the equation , accordingly
the
mentioned correlation is used to determine selected
region either human or not.
In order to solve the imperfections of AGMM, a MS

basedsegmentation algorithm is proposed in this paper.
We use theobject mask obtained by AGMM to estimate
an initial locationof the object. Then the original mask is
improved by usingMS segmentation. More precisely, the
holes will be in paintedand the object boundary will be
better aligned with true objectboundary. Furthermore, we
also use K-means for separatingoccluded objects in the
mask by using depth information.Details of the algorithm
are discussed as follows.
A. Object Segmentation Using Mean Shift (MS)
A colour-based MS segmentation is used for improving
the object mask by using the AGMM result as well as
colour information. This algorithm is called
AGMM+Seg. Algorithm subsequently. The detailed
steps are summarized as below:
1) Perform colour-based MS segmentation on the colour
Pixels which lie in a slightly larger bounding box (20%)
Than one that just covers the estimated mask. The
Segmentation result and different colours represent
different segments.
2) Filter out the small regions in the original object mask
Obtained by AGMM. More precisely, it is obtained by
Labelling all the connected components in the binary
Object mask and only keeping the component with
2

Largest number of pixels.

3) For each segment, if the ratio between the number of
The foreground pixels and the total number of pixels in
that segment extends a predefined threshold, we will
Consider it as a part of the foreground object. Otherwise,
That segment is considered to belong to the background.
An empirical threshold value 0.05 is used in thispaper.
B. Occluded Object Segmentation Using DepthMap
and Means Clustering
Here, we further propose a segmentation method for
Separating occluded objects in the mask so that the
objects canbe individually identified, if necessary there
are two objects in the mask. Hence, our objective is to
separate the object mask into two independent masks
which only contain one object each. In general, it can be
achieved by using K-means clustering on depth map with
The help of say MS segmentation. More precisely,
differentobjects may have different depths in the scene.
Hence, wecan use them to help separating the objects
especially for occluded objects.
A real-time dynamic programming (DP) stereo matching
method is employed here for depthestimation. In this
method, the matching cost of each pixel isaggregated
over a window. More precisely, the sum of absolute
differences (SAD) aggregation of the aforementioned
cost is used.
Then, DP is used for picking up the disparity with global
minimum cost for each pixel. The depth map estimated
by this efficient method is still noisy. Therefore, an edge
preserving bilateral filter is used for depth map
smoothing. It shouldbe noted that more advanced depth
estimation algorithmsare available and DP is used
because of its low arithmeticcomplexity and reasonably
good performance. To determine the number of objects
from the refined depth map in the mask, the histogram of
depth values inside the mask. Then a non-parametric
histogram segmentation method is used to determine the
object number.
Figure 3. Processing steps ofobject detection:

(a) Image frame containing objects A and B,
(b) Object mask obtained by AGMM
(c) Segmentation map,
(d) Refined object mask,
(e) Raw depth map,
(f) Refined depth map,
(g) And (h) segmented objects A and B, and
(i) 1D normalized histogram of depth values in (f).
IV. PROPOSED METHODOLOGY AND

DISCUSSION
We now describe the proposed BKF-SGM-IMS
algorithm.The principle of BKF with GM (BKF-GM) is
outlined first,which is followed by the proposed BKFSGM using directGM simplification. Finally, an
improved MS algorithm will beincorporated to the BKFSGM to yield the desired algorithm.Similar to
conventional KF, the MS provides measurements tothe
GMs in the BKF and yields the posterior density of the
State and hence location of the object, while the state
equationprovides prediction of the target location in next
frame in formof a prior state density.
A. Bayesian Kalman Filter with Gaussian Mixture
The probabilistic object tracking problem can be
modelled by the discrete-time linear state-space model as
follows:
xk =Akxk1+wk
zk =Ckxk+vk
wherexk and zk denote respectively the state and
observation(measurement) vectors at timek.Akdenotes
the state transitionmatrix and Ck constitute the
observation model which relatesthe measurement with
the state. wkandvk denote respectivelythe process and
observation noise vectors, and are assumed tobe mutually
independent.In this paper, the state vector and transition
matrix aredefined as
xk = xk,yk,Hxk,Hyk

wherexk, yk, (Hxk,Hyk) are the half axes of the

trackingbounding box with the state defined asCk =[I44
044]. zk is calculated by the improved MS.A Gaussian
distribution with mean ul andcovariance Qkl. In the rest
of the paper, the measurementnoise is assumed to be
zero-mean Gaussian withcovariance matrix Rk,i.e.,p(vk)
= N(vk;0,Rk),forsimplicity.
Now suppose further that Zk1 denotes theobservations
collected up to time instant k1andtheapriori
pdfp(xk|Zk1)is modeled by the following GM
withp(zk|xk)p(xk|zk1)dxk is a normalization constant.
Note that the second equality consists of the products of
two Gaussian distributions. Thus, each of these products
can be approximated by a Gaussian distribution for
which the KF for Gaussian processes is directly
applicable.Similar to the derivation, the a prior density is
p(xk+1|Zk) = p(xk|Zk)p(xk+1|xk)dxk
We can see that the number of mixture components
and hence the complexity grow exponentially after each
recursion. To keep a constant complexity, the GM model
should be approximatedas the form of BKF with
Simplified GM (BKF-SGM). Consider the following GM
model with components:
f(x)=n
j=1
j(x)=N(x;uj,Hj)
BKF-SGM, our goal is to approximatef(x)with a
simplifiedmixture model with fewer components
Conventional resampling methods is the use of an

efficientmixture simplification method with a lower
complexity.
Forexample, let the number of component and dimension
of statebenanddrespectively. Then, the complexity of the
greedyEM algorithm is related to the number of
candidates and data size used in the greedy EM
algorithm. On the other hand, the complexity of the twostep algorithm. T and L denote the numbers of iterations
and areusually small as suggested. Since, is typically
verylarge, say from 1000 to 5000, for the greedy EM
algorithm, the method in has a higher complexity.
B. BKF-SGM with Improved MS (BKF-SGM-IMS)
The observation vectorzk definedin can be obtained by
the MS tracker. It models theappearance of the tracked
object by a weighted color histogram and the object
center (xk,yk) is calculated by iteratively maximizing the
similarity between the tracked object and its candidate.
Histogram similarity is defined in terms of the
Bhattacharya coefficient and distance. At each iteration,
the mean shift vector is computed such that the
histogram similarity is increased. This process is
repeated
until
convergence
is
achieved.
Conventionally,(Hxk,Hyk) is calculated by scale
adaptation, which modifies(Hxk1,Hyk1) with a certain
fraction (10%)and let the MS converge again. In this
paper,(Hxk,Hyk)is directly obtained from the object
mask, which further increases the accuracyand efficiency
of the MS.
g(x)=wigi(x),
gi(x) =N(x;ti, Hi)
These equations are respectively the weight, center
and covariance matrix ofthe i-th component and should
be summed up to one.
Given a distance measureD(f(x),g(x)) between functions
f(x) and g(x), the error of approximating f(x) by g(x) is
D(f(x),g(x))=((f(x)g(x))2dx)
Conventionally, the simplification is done by resampling
following by clusteringusing the K-means or EM
algorithm.
However,
the
complexitydepends
exponentially on the dimension of the state and hence
It will soon become infeasible. Here, we adopted the
twostep algorithm developed in for machine learning for
Model order reduction while avoiding the additional
resampling process. At thek-th iteration, the component
mixture is partitioned intomgroups. BKF-SGM in one
dimension withk =4andk =2. GM of the prior density
atk1 time instant and illustrates the exponential growth
of the GM duringprediction. The order reduction results.
The major advantage of the proposed method over other
Fig 4. Illustration of the convergence behaviour of the

BKF-SGMIMS algorithm
Fig 4(a) Tracked object (yellow) cantered at a small area
(red) and Fir 4(b) which is similarity surface (values of
the Bhattacharyya coefficient) corresponding to the red
rectangle marked and yellow triangles are two local
maximum points and the orange rectangle is the
estimated object centre of the GM and 4 black circles are
object canters of the GM components.
V. EXPERIMENTALRESULTS
This section is divided into three parts. In the first part,

We evaluate the performance of the proposed BM. In the

second part describe the implementation details of our
tracking algorithms. Then, comparison with highly
related algorithms such as PF-based approach, MS with
KF prediction tracker and other state-of-the-art
algorithms using stereo camera captured surveillance
videos and standard testing datasets will be given. In the
third part, a novel non-training-based object recognition
algorithm is introduced. Comparisons with conventional
non-training-based algorithms, such as weighted color
histogram (WCH), colour correlogram (CC) etc., are then
presented. Moreover, we also illustrate that both no
training training-based object recognition algorithms can
be improved by using our detection and tracking results
as input on a standard testing dataset.
A. Background Modelling (BM) Comparison
In order to qualitatively evaluate the proposed BM
method, we compare it with other state-of-the-art BM
Algorithms, such as block-based classifier cascade with
probabilistic decision integration (BCCPDI) and
stochasticapproximation for background modelling (SA).
The standard datasets PETS2001and PETS2009, and our
own
atasetsDSP_LAB,
SYS_RdIandSYS_RdIIare
considered. Note that DSP_LAB is concerned with
indoor scenario whilethe others are concerned with
various outdoor scenes, suchas waving trees, waving
tapes, shadows, lighting change anddifferent kinds of
object. For each dataset, we randomlyselect ten image
frames and the corresponding ground truth masks are
labelled manually.
Figure 5. Comparison ofFmeasurevalues of various

BM methods: The higher the Fmeasure value the
better the segmentation result
B. Object Tracking Results and Comparison

Implementation details: The proposed visual object
tracking algorithm is based on the state-space model .We
can see that the improved MS tracker determines theme
asurement vectorzk, which is then fed back to theBKFSGM-IMS state-space model in order to predict the
newobject location, velocity and new bounding box
region in nextframe. In conventional MS [3], (Hxk,Hyk)
is calculated by scale adaptation. It modifies
(Hxk1,Hyk1) with a certainfraction (usually 10%)
and let the MS converge again.On the contrary, our
improved MS only calculates (xk,yk)from MS iterations.
(Hxk,Hyk) can be automatically scaledby the refined
object mask. Hence, the complexity of MS canbe further
reduced. In our method, thenumber of MS tracker
iteration is limited to 20, and theaverage number of
iterations is much smaller. The state noise wk is
modelled as a GM with two components:
p(wk)=N(wk;u1,Qk1) + (1)N(wk; u2,Qk2) (10)
Where = 0.1, u1 = u2 = 0, Qk1 = 10I, and Qk2 =I.
Note that, for a fair comparison, the number of
GM components is fixed to six in our experiments,
though theGM components can be adaptively selected to
better representthe real pdf of the object without
modifying other part ofthe BKF-SGM algorithm. In all
experiments, the initial statep(x0|Z1) =p(x0) is a GM
with six components havingthe same weight. Means of
GM components are initializedby the zeroth moment
(centroid) of the refined object mask.Covariance of each
component is set to P. In order to handle situations such
as long term tracking, large occlusion and sudden
appearance change, the static colourhistogram. Now
consists of finding maximum similarity between target
histograms mixture and its candidates.
To further assess the stability and effectiveness of our
algorithm, we select and track two rigid objects and six
non-rigid objects inPETS2001dataset. It can be seen that
the proposed BKF-SGM-IMS achieves lowland high
precision among the competing algorithms. More
5

importantly, it only loses 25% objects in average during

tracking, while other algorithms lose 38% to 50%
objects, and some of them even fail at the very
beginning. Together with the zero lost Track rate in the
previous testing sequences, the proposed algorithm offers
the lowest Lost Track rate among all. The complete
visual tracking results can be found in our project.
Finally, we note that other more sophisticated
representations adaptive multi-component appearance
models can alsobe incorporated in the proposed
algorithm. It is expectedthat the tracking performance
can be further improved at the expense of increased
implementation complexity.
Due to pagelimitation, this issue is not further pursued.
More precisely, the MS is performed by iterating the
following two steps:
1) Shifting the estimated target location such that the
Bhattacharyya distance is reduced, while keeping the
estimated mixture proportions.
2) Minimize the Bhattacharyyadistance with respect to
the mixture proportions, whilekeeping the estimated
target location fixed. The reduction ofthe distance in Step
2 is convex, and it can be performedrapidly. Interested
readers are referred to for details.In practice, these two
steps are repeated until the change intarget location is
smaller than half a pixel and each of themixture
proportions is modified by less than 0.01.
3) Tracking Results and Comparison:The performance
ofthe proposed object tracking algorithm is first tested on
asimple non-overlapping surveillance camera network.
Here,the network consists of four JVC 3D cameras and
the networktopology is illustrated in Fig. 6(a). Four
image frames capturedby these cameras are shown in
Fig. 6(b). The resolution of thestereo videos captured is
19201080 in side-by-side format.
Figure 6. Camera configuration of the multiple stereo

cameras captured dataset
(a) Topology of the stereo cameras network and
(b) Example images captured
By camera 14. The viewpoint angle between cameras 1
and 2 is 90 degrees. The viewpoint angle between
cameras 3 and 4 is 30 degrees
C. Object Recognition Application
Objects are detected and tracked independently in each
camera. However, it is desirable to be able to recognize
the same object in nearby cameras to achieve networkwise tracking. Therefore, a non-training-based object
recognition algorithm is proposed below for object
recognition and tracking over camera network. More
importantly, it only loses 25%objects in average during
tracking, while other algorithmslose 38% to 50% objects,
and some of them even fail at thevery beginning.
Together with the zero LostTrack rate in the
Previous testing sequences, the proposed algorithm
offers
The lowest Lost Track rate among all. This algorithm is
extended from our hand gesture recognition algorithm
and it is based on a novel distance metric, superpixel
earth movers distance (SP-EMD). In SP-EMD, the
object matching problem is viewed as the problem of
finding the optimal moving flows between two sets of
superpixels that represent the objects. It utilizes the
superpixels to simplify the representation.

Figure 8. (a) Shows the sample image pairs and their

object masks of CAVIAR4REID dataset.
(b) The cumulative matching characteristic (CMC)
Curves of two object recognition methods.
Figure 7. Examples of tracking result of various

tracking algorithms.
(a) Surfer body sequence
(b) BoBot_ball sequence
(c) CAVIAR sequence.
For the sake of clarity, we only demonstrate the results of
four selected trackers. Red and yellow lines show the
results of BKF-SGM-IMS and SCM, respectively. Blue
and Black lines show the results of AST and TLD,
respectively.
To further demonstrate the usefulness and effectiveness
ofthe proposed object detection and tracking algorithms,
we alsoevaluate two objects identification algorithms on
a standardtesting dataset called CAVIAR4REID. One is
the no training-based algorithm described above and the
other one is a state-of-the-art training-based algorithm
called ICT (short for Implicit Camera Transfer). The
CAVIAR4REID dataset includes fifty pedestrians
captured by two different cameras. For each person in
each camera there are ten available appearances. We
report results for two setups indemonstrating that both
training and non-training recognitionalgorithms can be
improved by using our object detection andtracking
algorithm as a pre-processing step. The performanceis
measured in terms of cumulative matching characteristic
(CMC) curve, which represents the expectation of
findingthe correct match in the top n-thmatch. Blue and
black lines show the recognition results using object
masks instead.
VI. CONCLUSION
New approaches for object detection and tracking in
cameranetwork has been presented. A novel object
detectionalgorithm using colour based MS segmentation
and depthinformation is first proposed for improving
background modelling and segmentation of occluded
objects. The segmentedobjects are then tracked by BKFSGM-IMS. Finally, a no training-based object
recognition algorithm based on SP-EMDdistortion metric
is presented for identification of similarobject extracted
in nearby cameras to achieve network-based
Tracking. The usefulness of the proposed algorithms is
Illustrated by experimental results and comparison with
Conventional methods.
VII. ACKNOWLEDGEMENT
We wish to express heartiest gratitude to the Head of the
Department Mr S. SARAVANAN, M.E., for his effective
leadership, encouragement and guidance during the course of
this project. We wish to thank profoundly all our Faculty
members who were illustrious and Lab technicians of our
Department. We also extend our warm thanks to our beloved
parents and friends for constantly encouraging us and providing
us with their valuable ideas.
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Automatic Target Tracking System Using Computer Vision

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International Journal of Research in Advanced Technology - IJORAT

Vol 2, Issue 3, MARCH 2016