Professional Documents
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Tanuja Kayarga
Department of ISE, GSSSIETW,
VTU, Mysore, India
ABSTRACT
Video surveillance is an active research topic in Keywords: KF – Kalman Filter, OF-
OF Optical Flow,
computer vision that tries to detect, recognize and track GMM- Gaussian Mixture Model
objects over a sequence of images and it als
also makes an
attempt to understand and describe object behavior by I. INTRODUCTION
replacing the aging old traditional method of
Object tracking is a procedure of movement estimation
monitoring cameras by human operators. Object
in computer vision application we present a combined
detection and tracking are important and challenging
multiple object tracking technique for a video. A video
tasks in many computer vision applications suc such as
is a frame by frame sequence of images. Optical flow is
surveillance, vehicle navigation and autonomous robot
a flexible representation of visual motionm that is
navigation. Object detection involves locating objects
particularly suitable for computers for analyzing digital
in the frame of a video sequence. Every tracking
images. In this work the Horn & Schunck method is
method requires an object detection mechanism either
used to find the optical flow vectors which in turn pave
in every frame or when the object first appears in the
a way for the detection and tracking of the single
video. Object tracking is the process of locating an
moving object in a video. Kalman filter removes the
object or multiple objects over time using a camera.
noise that effects a background subtracted image and
The high powered computers, the availability of high
predicts the position of an object accurately. A
quality and inexpensive video cameras and the
combination of Optical flow and Kalman filter method
increasing need for automated video analysis has
is designed in order to attain an accurate object tracking
generated a great deal of interest in object tracking
system. The accuracy
racy of occluded object in dynamic
algorithms. There are three key steps in video analysis,
background is promising compared to simple
detection interesting moving objects, tracking of such
background subtraction. The experiments are conducted
objects from each and every frame to frame, and
on different videos to prove the efficiency and the
analysis of object tracks to recognize their behavior.
results are discussed.
The main reason is that they need strong requirements
to achieve satisfactory working conditions, specialized Tracking systems have served well in the field of video
and expensive hardware, complex installations and surveillance, militarily guidance, robot navigation,
setup procedures, and supervision of qualified workers. artificial intelligence and medical applications during
Some works havee focused on developing automatic the last two decades. It’s vigor to the variability in the
detection and Tracking algorithms that minimizes the visual by dynamic, over the top environment.
necessity of supervision. They typically use a moving
object function that evaluates each hypothetical object In many cases, there are multiple objects
ob to track. The
configuration with the set of available detections motion based object tracking can be partitioned into
without to explicitly compute their data association. two sections.
1. Moving object detection from one frame to another. human observers. Partially autonomous systems
2. Analysis of tracked objects and Handling the analyze video content automatically but still require
occlusion human input for some monitoring analysis tasks. Fully
autonomous systems are capable of performing
Tracking uniform movement was effortlessly done by surveillance task on different levels. This includes low-
the background commonly implemented background level task such as motion detection and high-level task
modeling however of non-uniform movement was such as event detection. With state-of-the-art
tricky. Background subtraction or foreground detection techniques, the goal of present visual surveillance
is the extraction technique or the detection of moving systems is to assist human operators with identification
objects in recordings or static foundations. of important events in videos and to manage real-time
alarms in a proactive manner.
The majority of the movement of image is uniform in
nature and it could acquire the on tracking. Gaussian Our proposed methods for background subtraction,
mixture model is a background subtraction procedure object tracking, and crowd flow estimation for
that monitors objects in uniform or non-uniform applications in visual surveillance. We consider
movement. robustness and computational cost as the major design
goals of our work. And responding to them in a timely
After the extraction of object from closer view of
manner
image, object limitation made utilization of this
procedure. The prediction and correction of objects 1. To set up a system for automatic segmentation and
were finished with the Kalman filter or linear quadratic tracking of moving objects in stationary camera video
estimation. It is a calculation utilized for object tracking scenes, which may serve as a foundation for higher
to predict an object detected location to take noisy level reasoning tasks and applications.
measures and to relate numerous objects. The 2. To make significant improvements in commonly
appropriation of the speed of objects in an image of used algorithms. Finally, the aim is to show how to
video frame is known as optical stream. perform detection and motion-based tracking of moving
To describe and evaluate the movement objects in a objects in a video from a stationary camera.
video stream there by movement based object detection 3. To analyze segmentation algorithm to detect the
and tracking systems can obtained by optical flow. The multiple objects. To analyze some tracking method for
challenging task in tracking multiple objects was tracking the single objects and multiple objects.
difficult when the objects are occluded. Optical flow
algorithm overcomes this risk. The execution of II. RELATED WORK
tracking relies on upon the exact feature extraction and The research conducted so far for object detection and
the position of the moving objects from the continuous tracking objects in video surveillance system are
video. Multiple objects can be tracked simultaneously discussed. Tracking is the process of object of interest
using Kalman filter and optical flow algorithm. We within a sequence of frames, from its first appearance
presented improved optical flow algorithm which not to its last. The type of object and its description within
only gives better accuracy but also handles occlusion in the system depends on the application. During the time
a video. So, improved optical flow algorithm is found that it is present in the scene it may be occluded by
to be more promising as it gives better accuracy in less other objects of interest or fixed obstacles within the
computation. Visual surveillance systems can be scene. A tracking system should be able to predict the
manual, partially autonomous, or fully autonomous. position of any occluded objects.
Manual systems require video data to be monitored by
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International Journal of Trend in Scientific Research and Development (IJTSRD) ISSN: 2456-6470
During Occlusion
Real-time In this paper, objects are detected
Tao Yang, Object handling, the merging
multiple Objects in the real time video with long
Stan Z.Li, Segmentation and splitting process will
Tracking with Implemented duration occlusion handling under
2014 Quan Pan, Jing and Splitting cost the accuracy rate.
Occlusion different conditions indoor and
Li and Merging It works on videos which
Handling in outdoor in changing background.
have 15-20 fps not more
Dynamic Scenes
than that.
System Works on the
Motion Detection Motion This paper presents a new motion based detection
Based on Frame detection and algorithm for detecting moving which is not good for
Nishu Singla Implemented
2014 Difference Frame objects from a static background real time object
Method Difference scene based on frame difference. detection.
Multiple Objects cannot
be detected.
Background In this paper, human motion
Payal Ranipa,
Real-time moving Subtraction detection and tracking for real-time Failed to implement the
Kapildev Proposed
2015 object tracking in and DML Security system was formulated same.
Naina
video processing Bysian method which increases the efficiency of
the system.
Multiple Object
As number of objects
Tracking, learning P-N Learning The proposed system provides
Archana vilas increases the
and Detection technology better methodology than existing
Kshirsagar, Implemented performance of the
2016 Using P-N using Template systems which keeps on comparing
Kanchan Doke system gets slow
Learning Matching current template with existing
This method doesn't deal
Template template by applying threshold
with occlusion Handling
Matching
Frame
Multiple Vehicle
Splitting, The proposed solution combines
Detection And D. Sudha, J. Implementation process
Proposed Kalman Filter the efficiency of the robust
2016 Tracking in Priyadarshini is not completed.
and detection model with the benefits
Dynamic
Background of dynamic environment
Environment
Subtraction
Color and Hu
Multiple Object Occlusion Handling and
Moments and Object tracking is done by
Tracking in shadow Elimination are
Chandrajit M, Nearest- extracting the Color and Hu
Surveillance not done
Girisha R and Proposed Neighbor moments features from motion
2016 Video Using Only benchmark datasets
Vasudev T classifier with segmented blob and establishing
Color and Hu had been used for
Chi-Square the association of objects in
Moments experiments
Dissimilarity successive frames
method.
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International Journal of Trend in Scientific Research and Development (IJTSRD) ISSN: 2456-6470
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Gaussian. However, the filter yields the exact position at each time step. The optimality is guaranteed
conditional probability estimate in the special case that if all noise is Gaussian. Then the filter minimizes the
all errors are Gaussian-distributed. mean square error of the estimated parameters (e.g.
position, velocity). The Kalman filter is an online
Extensions and generalizations to the method hae also process, meaning that new observations are processed
been developed, such as extended Kalman filter and the as they arrive. To formulate a Kalman filter problem,
unscented Kalman filter which work on nonlinear we require a discrete time linear dynamic system with
systems. The underlying model is a Bayesian model additive white noise that models unpredictable
similar to a hidden Markov model but where the state disturbances. The Kalman filter tries to estimate the
space of the latent variables is continuous and where all state a ∈Rn of that system which is governed by the
latent and observed variables have Gaussian vector difference equation:
distributions.
Kalman filter uses a system’s dynamic model (e.g.,
physical laws of motion), known control inputs to that
system, and multiple sequential measurements (such as
from sensors) to form an estimate of the system’s
varying quantities (its state) that is better than the
estimate obtained by using only one measurement
alone. As such, it is a common sensor fusion data
fusion algorithm.
When performing the actual calculations for the filter,
the state estimate and covariance are coded into
matrices to handle the multiple dimensions involved in
a single set if calculations. This allows for the
representation of the linear relationships between
different state variables (such as position, velocity and
acceleration) in any of the transition models or
covariance. Figure 3.3 the Kalman filter Predict/Correct model
As an example application, consider the problem of 1. The prediction steps
determining the precise location of a truck. The truck
can be equipped with the GPS unit that provides an State prediction
estimate of the position within a few meters. The GPS Error covariance prediction
estimate is likely to be noisy; readings ‘jump around’
rapidly, though remaining within few meters of the real 2. The correction step
position. In addition the truck expected to follow the
laws of physics, its position can be estimated by Measurement prediction
integrating its velocity over time, determined by Residual
keeping track of wheel revolution and the angle of Measurement prediction covariance
steering wheel. This technique is known as dead Kalman gain
reckoning. In this example, the Kalman can be a State update
thought of as operating in two distinct phases: predict Error covariance update
and update. In the predict phase the truck’s old position
will be modified according to physical laws of motion.
In the update phase, a measurement of the truck’s
position is taken from the GPS unit. Along with this
measurement come some amount of uncertainty and its
covariance relative to that of the prediction from the
previous phase determines how much the new
measurement will affect the updated prediction.
Kalman filter provides an optimal estimate of its
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International Journal of Trend in Scientific Research and Development (IJTSRD) ISSN: 2456-6470
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International Journal of Trend in Scientific Research and Development (IJTSRD) ISSN: 2456-6470
V. Result Discussion
5.1 User interface Figure 5.2 shows uploading video for tracking
This module provides user interface to choose dataset 5.2 Frame conversion process
or camera as options to detect and track the object in
respective videos. If the user choice is to track the objects from static
video or dataset then, the next step after uploading
video is frame conversion process. Once the frame
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International Journal of Trend in Scientific Research and Development (IJTSRD) ISSN: 2456-6470
conversion pushbutton is pressed then the module 5.4 Working of Kalman filter algorithm
related to frame conversion process is initiated.
During frame conversion, the frames are stored in the Once the object is detected, the Kalman filter
folder created by the user which shows all the frames algorithms performs tracking in two major steps. In
converted from video used for further processes. This Prediction step, as soon as new object arrives into
folder which includes frames get refreshed and new frame it compared with previous frame and if it is
frames are stored each time the frame conversion newly detected object, then it is assigned with unique
pushbutton is pressed by user. ID. In Correction step, whenever the object in the
frame disappears from frame its information is erased
from list and if it re-enters the frame again, still it
considered as new object and it is assigned with new
ID.
As shown in the previous step, locations of detected 5.8 Real time object video tracking with occlusion
objects are determined and using the details of handling
previous steps, the trajectories of the detected objects The below figure shows real time video tracking with
are obtained. The tracking details are shown in the occlusion handling in which though the objects are
below Figure 5.6 overlapped two different box are displayed for each
5.7 Real time video tracking object indicating there are two objects in the frame.
All the above steps are performed for the static video VI. CONCLUSION
or dataset. The experiment is performed for detecting This method improves the performance of motion
and tracking objects in real time videos also. segmentation algorithms. We consider robustness and
computational cost as the major design goals of our
work. Our methods are designed to be proactive and
capable of processing the video stream for event
analysis in real-time. However strength of Kalman
filter is their ability to track object in adverse
situation. Ideally they can assist human operators with
identification of important events in videos and
responding to them in a timely manner. Amongst the
methods reviewed, improved optical flow algorithm is
found to be more promising as it gives better accuracy
in less computation time.
The present work can be extended further for the real
time buffering by using novel tracking algorithms and
comparing their performance accordingly to achieve
more accuracy.
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International Journal of Trend in Scientific Research and Development (IJTSRD) ISSN: 2456-6470
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