Research > Tracking

Dynamic Programming Tracking

This tracking algorithm prevents taking (possibly wrong) local decisions, because the tracking is done at the end of a sequence by making a traceback of the decisions to reconstruct the best path t (x, y). This can be compared to time alignment in speech recognition.


Published paper related to this work:


Dynamic programming tracking score calculation and traceback
Dynamic programming tracking score calculation and backtrace

Dynamic programming tracking performs well when one wants to track an object with many occlusions, information gaps or for offline tracking. It may also be used with non- static background or multiple target objects in the foreground.

Dynamic programming tracking on large images is very time consuming, when making a full search of all possible tracking rectangles. In a first step we developed a simple tracking algorithm with fixed tracking rectangle size.

Since the dynamic programming tracking is an algorithm that can use any image score function, the minimum search window size I x J must be greater than one in order to calculate a score of at least one pixel, and in order to center the window, it should be of odd size. Thus for discrete functions or distributions, the minimum window size is set at 3x3.

In each dynamic programming algorithm, we need a recursion equation as in an HMM to calculate the best score over the whole image sequence, and to reconstruct the path which achieved this score.

Dynamic programming tracking recursion equation
Dynamic programming tracking recursion equation

An example where simply motion is used to track a hand signing some Palm's Graffiti didgits can be found in the follwing video clip. We used a partial traceback in order to reduce the computation power and memory requirements. The other examples are extracted from the RWTH-BOSTON-104 sign language database.

picture Dynamic programming tracking using motion picture Dynamic programming tracking using motion picture Dynamic programming tracking using motion
Dynamic programming tracking compared to camshift tracking under noisy circumstances with impulse noise (VIDEO CLIP)
picture Dynamic programming tracking with impulse noise picture dynamic programming tracking with impulse noise picture dynamic programming tracking with impulse noise picture dynamic programming tracking with impulse noise picture dynamic programming tracking with impulse noise
picture camshift tracking with impulse noise picture camshift tracking with impulse noise picture camshift tracking with impulse noise picture camshift tracking with impulse noise picture camshift tracking with impulse noise
Dynamic programming tracking compared to camshift tracking under noisy circumstances with Poisson noise (VIDEO CLIP)
picture dynamic programming tracking with poisson noise picture dynamic programming tracking with poisson noise picture dynamic programming tracking with poisson noise picture dynamic programming tracking with poisson noise picture dynamic programming tracking with poisson noise
picture camshift tracking with poisson noise picture camshift tracking with poisson noise picture camshift tracking with poisson noise picture camshift tracking with poisson noise picture camshift tracking with poisson noise
Dynamic programming tracking compared to camshift tracking under noisy circumstances with laplacian noise (VIDEO CLIP)
picture dynamic programming tracking with laplacian
              noise picture dynamic programming tracking with laplacian
              noise picture dynamic programming tracking with laplacian
              noise picture dynamic programming tracking with laplacian
              noise picture dynamic programming tracking with laplacian
              noise
picture camshift tracking with laplacian noise picture camshift tracking with laplacian noise picture camshift tracking with laplacian noise picture camshift tracking with laplacian noise picture camshift tracking with laplacian noise
Dynamic programming tracking compared to camshift tracking under noisy circumstances with gaussian noise (VIDEO CLIP)
picture dynamic programming tracking with gaussian
              noise picture dynamic programming tracking with gaussian
              noise picture dynamic programming tracking with gaussian
              noise picture dynamic programming tracking with gaussian
              noise picture dynamic programming tracking with gaussian
              noise
picture camshift tracking with gaussian noise picture camshift tracking with gaussian noise picture camshift tracking with gaussian noise picture camshift tracking with gaussian noise picture camshift tracking with gaussian noise

Home > Research > Tracking

Philippe Dreuw
Last modified: 2011-04-07 10:30:07 . Disclaimer. Created Wed Dec 22 18:04:32 CET 2004

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