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Title of Journal: Machine Vision and Applications

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Abbravation: Machine Vision and Applications

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Springer Berlin Heidelberg

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1432-1769

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HMPMR strategy for realtime tracking in aerial im

Authors: Carol Martínez Pascual Campoy Iván F Mondragón José Luis SánchezLopez Miguel A OlivaresMéndez
Publish Date: 2014/06/01
Volume: 25, Issue: 5, Pages: 1283-1308
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Abstract

The vast majority of approaches make use of features to track objects In this paper we address the tracking problem with a trackingbyregistration strategy based on direct methods We propose a hierarchical strategy in terms of image resolution and number of parameters estimated in each resolution that allows direct methods to be applied in demanding realtime visualtracking applications We have called this strategy the Hierarchical MultiParametric and MultiResolution strategy HMPMR The Inverse Composition Image Alignment Algorithm ICIA is used as an image registration technique and is extended to an HMPMRICIA The proposed strategy is tested with different datasets and also with image data from real flight tests using an Unmanned Aerial Vehicle where the requirements of direct methods are easily unsatisfied eg vehicle vibrations Results show that using an HMPMR approach it is possible to cope with the efficiency problem and with the small motion constraint of direct methods conducting the tracking task at realtime frame rates and obtaining a performance that is comparable to or even better than the one obtained with the other algorithms that were analyzedThe work described in this paper is the result of several research stages conducted at the Computer Vision Group of the Universidad Politécnica de Madrid The authors would like to thank the Universidad Politécnica de Madrid the Consejería de Educación de la Comunidad de Madrid and the Fondo Social Europeo FSE for the PhD Scholarships of some of the Authors This work has been supported by the Spanish Ministry of Science under grant MICYT DPI201020751C0201

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