IAETSD JOURNAL FOR ADVANCED RESEARCH IN APPLIED SCIENCES ISSN NO: 2394-8442

A REVIEW ON OBJECT DETECTION AND TRACKING SYSTEM IN

REAL WORLD BY USING CAMERA ROTATION

Ms. Gaikwad Prajakta P1, Ms. Nalavade Komal T2, Ms. Shinde Komal V3,
Prof. Sirdeshpande S.A4,
Department of computer engineering, Savitribai Phule Pune University
1prajaktagaikwad9696@gmail.com,2komalnalavade8@gmail.com,3komu.shinde1996@gmail.com, 4shrini2020@gmail.com

Abstract

Real-time object detection and tracking is a vast, vibrant yet inconclusive and complex area of computer vision.
Due to its increased utilization in surveillance, tracking system used in security and many others applications have
propelled researchers to continuously devise more efficient and competitive algorithms. Video cameras are among the
most commonly used sensors in a large number of applications, ranging from surveillance to smart rooms for
videoconferencing. There is a need to develop algorithms for tasks such as detection, tracking, and recognition of objects,
specifically using distributed networks of cameras. The task of real time detection and tracking of a stable or moving
object in a video stream is quite challenging if camera itself is moving.

Keywords
Embedded System Board
Embedded Linux OS/Linux OS
Object Detection
Open CV Libraries
Object tracking

I. INTRODUCTION
Solving object detection, tracking, and positioning simultaneously in a multiple high definition camera setup is not an easy
task and requires efficient algorithmic development[4].Object detection and tracking is one of the most implant and
fundamental technologies to develop real-world computer vision systems: e.g. visual surveillance systems, lTS (Intelligent
Transport Systems) and so on.

The task of real time detection and tracking of a moving object in a video stream is quite challenging if camera itself is
moving. A 360 degree rotating camera is used for real time detection and tracking of object, there is adaption of different
object tracking algorithms and their effect on implementation. The existing system contains a camera that is connected to
an embedded system (standalone board) or PC/laptop. They (board/PC) are having an image processing algorithm which
detects an object first and then tracks it as long as it is in the line of sight of the camera.

As the object moves, the PC/laptop/embedded Board gives signal to motor to rotate the camera which is mounted on a
stepper motor. But the camera follows the path [1] of moving object. And doesnt consider the other objects that are
present in sight of camera which is major limitation of the system. In our proposed system, we are going to firstly the
surveillance of object will be done, surveillance is nothing but the closely and clearly observation of behavior and activities
of the objects. Then a particular object is detected and tracked and that tracked information in the sense of message will
be display on the operators monitor. Alert message will help operator and continuous observation of operator will not be
required.

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II. LITERATURE SURVEY

In [1] authors describes, the system in which the 360 degree rotating camera is used which is connected to the embedded
board and mounted on stepper motor. They (board/PC) are having an image processing algorithm which detects an
object first and then tracks it as long as it is in the line of sight of the camera. As the object moves, the
PC/laptop/embedded Board gives signal to motor to rotate the camera which is mounted on a stepper motor. To monitor
Object in video user can have multiple options.

If user is using laptop/PC to track object it is very simple for him because he already has a screen but in case of
embedded board user can monitor the activity of the object of interest using HDMI output or streaming video on WEB
server. The object can be defined directly by the end user by selecting a portion of the frame in video stream. The
embedded board/PC also saves the video stream in a storage device for playback purpose. In [2] authors describes, system
in which a novel keypoint-based method for long-term model-free object tracking in a combined matching-and tracking
framework. In order to localize the object in every frame, each keypoint casts votes for the object center.

As erroneous key points are hard to avoid, we employ a novel consensus-based scheme for outlier detection in the voting
behaviour. To make this approach computationally feasible, we propose not to employ an accumulator space for votes, but
rather to cluster votes directly in the image space. By transforming votes based on the current keypoint constellation, we
account for changes of the object in scale and rotation. In contrast to competing approaches, we refrain from updating the
appearance information, thus avoiding the danger of making errors. The use of fast keypoint detectors and binary
descriptors allows for our implementation to run in real-time.

In [3] authors describes, Real-time object detection and tracking is a vast, vibrant yet inconclusive and complex area of
computer vision. Due to its increased utilization in surveillance, tracking system used in security and many others
applications have propelled researchers to continuously devise more efficient and competitive algorithms .However,
problems emerge in implementing object detection and tracking in real-time; such as tracking under dynamic environment,
expensive computation to fit the real-time performance, or multi-camera multi-objects tracking make this task strenuously
difficult. In [4] authors describes, a real-time object positioning system that naturally combines detection, tracking, and 3D
positioning in a multiple camera setup.

Depending on the task, the detection, tracking, and positioning steps, when performed independently have limitations due
to the loss of temporal and geometric constraints. We conjecture that the detection and tracking steps do not always
estimate a correct solution due to incorrect matches, appearance variations or occlusions. In order to offset these
problems, we use the geometry between the target object and cameras to refine detection and tracking result and provide
persistent and reliable solution to 3D positioning. The geometry is introduced to the detection and tracking steps by
simultaneously solving the 3D position of the target object by using a bundle adjustment step.

In [5] authors describes, Video cameras are among the most commonly used sensors in a large number of applications,
ranging from surveillance to smart rooms for videoconferencing. There is a need to develop algorithms for tasks such as
detection, tracking, and recognition of objects, specifically using distributed networks of cameras. The projective nature of
imaging sensors provides ample challenges for data association across cameras. We first discuss the nature of these
challenges in the context of visual sensor networks.

Then, we show how real world constraints can be favorably exploited in order to tackle these challenges. Examples of real-
world constraints are a) the presence of a world plane, b) the presence of a three dimensional scene model, c) consistency
of motion across cameras, and d) color and texture properties. In this regard, the main focus of this paper is towards
highlighting the efficient use of the geometric constraints induced by the imaging devices to derive distributed algorithms
for target detection, tracking, and recognition. In [6] authors describes, the system in which the tracker is initialized by a
region of interest in the first frame. Afterwards an on-line boosting technique is used for learning descriptions of detected
key points lying within the region of interest.

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New frames provide new samples for updating the classifiers which increases their stability. In order to ensure correct
updates a verification step based on estimating homographies using RANSAC is performed. The approach can be used fo
real-time applications since on-line updating and evaluating classifiers can be done efficiently. Recently for both, global as
well as for feature-based methods, we have seen approaches handling tracking as a classification problem. In case of global
methods the idea is to simplify the tracking problem by incorporating background information for selecting a
discriminative space to distinguish object and background.

As a result tracking is usually simplified by formulating it as a classification task between foreground (target object) and
background (current scene). In [7] authors describes, Video object segmentation is an important pre-processing task for
many video analysis systems. To achieve the requirement of real-time video analysis, hardware acceleration is required. In
this paper, after analyzing existing video object segmentation algorithms, it is found that most of the core operations can
be implemented with simple morphology operations. Simulation results show that most of the core operations of video
object segmentation can be supported by the accelerator by only changing the instructions. A prototype chip is designed to
support real-time change-detection-and background- registration based video object segmentation algorithm. This chip
incorporates eight macro processing elements and can support a processing capacity of 6,200 9-bit morphological
operations per second on a SIF image.

In [8] authors describes, Mean shift is a tool for finding modes in a set of data samples, manifesting an underlying
probability density function (PDF) in RN. Strengths using Mean shift is : Application independent tool, suitable for real
data analysis, does not assume any prior shape(e.g. elliptical) on data clusters, can handle arbitrary feature space, only ONE
parameter to choose, h (window size) has a physical meaning, unlike K-Means. Using Mean-Shift for tracking in color
images has two approaches 1) Create a colour likelihood image, with pixels weighted by similarity to the desired color
(best for uncoloured objects) 2) Represent color distribution with a histogram. Use mean-shift to find region that has most
similar distribution of colours.

In [9] authors describes, the design and implementation of a system for real-time monocular tracking of a moving object
using the two degrees of freedom of a camera platform. Figure-ground segregation is based on motion without making any
a priori assumptions about the object form. Using only the first spatiotemporal image derivatives, subtraction of the normal
optical flow induced by camera motion yields the object image motion. Closed-loop control is achieved by combining a
stationary Kalman estimator with an optimal Linear Quadratic Regulator. The implementation on a pipeline architecture
enables a servo rate of 25 Hz. In [10] authors describes, an approach to creation of an automatic tracking system on the
evaluation module, type DM6437 EVM, is considered. As a core of the system the camshift algorithm was chosen. The
model of the algorithm was implemented in Matlab Simulink and ported to the evaluation module. The work contains
description of some peculiarities related to porting of the algorithms model to DM6437 EVM board. The pictures
included show behaviour of the system working with actual video sequences. Comparison of the optimized and non-
optimized versions of the program from the viewpoint of operation speed is also performed.

III. PROPOSED METHODOLOGY

There are various tracking and image processing algorithms are included in the system. Object detecting is the process of
finding instances of real-world objects .The system detects whether object is bicycles, faces, and buildings in images or
videos, video tracking is the process of locating a moving object (or multiple objects) over time using a camera.
Surveillance means closely and clearly observation of behavior and activities of the objects. Detection of a moving object
is necessary for any surveillance system. A static camera can detect and track an object as long as the object is inside the
frame of the camera. But as the object goes beyond the boundary of the camera frame, the camera stops tracking it, which
is a major limiting factor for the use of a static camera. This limitation can be overcome by using a rotating camera, which
will keep continuously rotating and track objects.

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IV. CONCLUSION
After this survey we conclude that lot of work has been done in field of the wireless sensor network and IoT. In order
to achieve real-time reactive behaviour we must apply the appropriate image processing and control techniques. This
approach used towards increase the object detection with new ideas. We have identified object detection and object
tracking application and its implementation using different designs with rotating camera.

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