Moving Object Tracking Research Articles

PLMOT-SLAM: a point-line features fusion SLAM system with moving object tracking

PLMOT-SLAM: a point-line features fusion SLAM system with moving object tracking

KISS-Keep It Static SLAMMOT-The Cost of Integrating Moving Object Tracking into an EKF-SLAM Algorithm.

The treatment of moving objects in simultaneous localization and mapping (SLAM) is a key challenge in contemporary robotics. In this paper, we propose an extension of the EKF-SLAM algorithm that incorporates moving objects into the estimation process, which we term KISS. We have extended the robotic vision toolbox to analyze the influence of moving objects in simulations. Two linear and one nonlinear motion models are used to represent the moving objects. The observation model remains the same for all objects. The proposed model is evaluated against an implementation of the state-of-the-art formulation for moving object tracking, DATMO. We investigate increasing numbers of static landmarks and dynamic objects to demonstrate the impact on the algorithm and compare it with cases where a moving object is mistakenly integrated as a static landmark (false negative) and a static landmark as a moving object (false positive). In practice, distances to dynamic objects are important, and we propose the safety-distance-error metric to evaluate the difference between the true and estimated distances to a dynamic object. The results show that false positives have a negligible impact on map distortion and ATE with increasing static landmarks, while false negatives significantly distort maps and degrade performance metrics. Explicitly modeling dynamic objects not only performs comparably in terms of map distortion and ATE but also enables more accurate tracking of dynamic objects with a lower safety-distance-error than DATMO. We recommend that researchers model objects with uncertain motion using a simple constant position model, hence we name our contribution Keep it Static SLAMMOT. We hope this work will provide valuable data points and insights for future research into integrating moving objects into SLAM algorithms.

A Diffusion Neural Network-Enhanced Object Tracking Approach Under Sports Scenarios

Object tracking for motion scenes is a common research concern in field of computer vision. Its goal is to accurately track targets in different time periods and predict their future states by utilizing the motion information in video sequences. However, traditional target-tracking methods in motion scenes often face challenges such as target blur, occlusion, and changes in lighting. To deal with this issue, this paper proposes a diffusion neural network-enhanced object-tracking approach under sports scenarios. In order to further improve tracking performance, the diffusion convolution operation is introduced, which propagates features at different time steps to enhance the modeling ability of target motion. Then, suitable influencing factors are selected based on motion scene object feature parameters. Finally, a target tracking method is established by integrating these two methods. In the experiment, we used a large number of real motion scene datasets to evaluate the proposed method. The experimental results show that by comparing with traditional moving object tracking methods, the proposal achieves significant improvement in tracking accuracy and methodology robustness. In addition, we also conducted stability experiments, proving that this method has good stability for models with varying kernel numbers.

Enhanced Object Detection in Autonomous Vehicles through LiDAR—Camera Sensor Fusion

To realize accurate environment perception, which is the technological key to enabling autonomous vehicles to interact with their external environments, it is primarily necessary to solve the issues of object detection and tracking in the vehicle-movement process. Multi-sensor fusion has become an essential process in efforts to overcome the shortcomings of individual sensor types and improve the efficiency and reliability of autonomous vehicles. This paper puts forward moving object detection and tracking methods based on LiDAR—camera fusion. Operating based on the calibration of the camera and LiDAR technology, this paper uses YOLO and PointPillars network models to perform object detection based on image and point cloud data. Then, a target box intersection-over-union (IoU) matching strategy, based on center-point distance probability and the improved Dempster–Shafer (D–S) theory, is used to perform class confidence fusion to obtain the final fusion detection result. In the process of moving object tracking, the DeepSORT algorithm is improved to address the issue of identity switching resulting from dynamic objects re-emerging after occlusion. An unscented Kalman filter is utilized to accurately predict the motion state of nonlinear objects, and object motion information is added to the IoU matching module to improve the matching accuracy in the data association process. Through self-collected data verification, the performances of fusion detection and tracking are judged to be significantly better than those of a single sensor. The evaluation indexes of the improved DeepSORT algorithm are 66% for MOTA and 79% for MOTP, which are, respectively, 10% and 5% higher than those of the original DeepSORT algorithm. The improved DeepSORT algorithm effectively solves the problem of tracking instability caused by the occlusion of moving objects.

The Effects of High-Intensity Interval Training on Cognitive and Physical Skills in Basketball and Soccer Players.

As athletes pursue excellence, training techniques continue to advance, making structured physical activity an essential tool for enhancing performance. To optimize athletic performance in modern competitive sports, the balance of physical performance and mental clarity is required. This study seeks to examine the effects of High-Intensity Interval Training (HIIT) on cognitive and physical skills in basketball and soccer players. A 3-week HIIT protocol was incorporated based on the Wingate technique. This study included 10 soccer players and 10 basketball players with an average age of 22.79 ± 1.90 years. Participants performed pre- and post-intervention assessments. Physical proficiency was assessed using 20 m sprint, change-of-direction (COD) and dribbling tests, while cognitive skills were assessed using motion object tracking (MOT), working memory, perceptual load (PL), and attention window (AW) tests. The HIIT intervention significantly improved cognitive performance in particular; noteworthy observations were a 15% improvement in motion object tracking test scores and a 16% increase in working memory test scores for basketball players. The attention window test scores showed a 32% increase, and perceptual load test scores were 31% decreased for soccer players post-intervention. There were significant improvements in physical skills; for example, sprint times were decreased by 6%, and change-of-direction and dribbling times were reduced by 8% and 7%, respectively, indicating improved agility, speed, and ball control abilities. In conclusion, both groups performed significantly better on cognitive and physical skill tests post-HIIT intervention.

Design and development of an efficient real-time moving object tracking system in a wireless-controlled automated vehicle

This study aimed to apply a microprocessor on a wireless automated vehicle to achieve real-time tracking of moving objects. The targets captured by the camera on the vehicle were first separated from their background through background subtraction. Next, morphological processing was performed to remove unnecessary information. An enhanced seeded region growing method was used to achieve image segmentation by labeling and segmenting the targets effectively, thus enhancing the accuracy and resolving the problem of object concealment. The corresponding red, green, and blue colors of each target were calculated through a color space, which was then converted into an enhanced luminance/chroma blue/chroma red (YUV) color space for color histogram modeling and storage, so as to increase the system’s tracking speed. The enhanced YUV colors also achieved accurate tracking in dark places. After inputting the next image, an enhanced agglomerative hierarchical clustering method was used to agglomerate and connect pixels with the same YUV for tracking. A proportional-integral-derivative controller controlled the motors on the camera lens and the vehicle so that the target could be tracked properly in real-time. The experimental results revealed that our proposed tracking method performed better than conventional tracking methods.

DMOT-SLAM: visual SLAM in dynamic environments with moving object tracking

Visual simultaneous localization and mapping (SLAM) in dynamic environments has received significant attention in recent years, and accurate segmentation of real dynamic objects is the key to enhancing the accuracy of pose estimation in such environments. In this study, we propose a visual SLAM approach based on ORB-SLAM3, namely dynamic multiple object tracking SLAM (DMOT-SLAM), which can accurately estimate the camera’s pose in dynamic environments while tracking the trajectories of moving objects. We introduce a spatial point correlation constraint and combine it with instance segmentation and epipolar constraint to identify dynamic objects. We integrate the proposed motion check method into DeepSort, an object tracking algorithm, to facilitate inter-frame tracking of dynamic objects. This integration not only enhances the stability of dynamic features detection but also enables the estimation of global motion trajectories for dynamic objects and the construction of object-level semi-dense semantic maps. We evaluate our approach on the public TUM, Bonn, and KITTI dataset, and the results show that our approach has a significant improvement over ORB-SLAM3 in dynamic scenes and performs better compared to other state-of-the-art SLAM approaches. Moreover, experiments in real-world scenarios further substantiate the effectiveness of our approach.

Review: Multiple Objects Detection and Tracking using Deep Learning Approach

Multiple Object Tracking (MOT) is a crucial tool with diverse applications, such as object detection, object counting, and security systems. Precise identification and monitoring of numerous objects are essential in several computer vision uses, such as monitoring, self-driving cars, and computer-human communication. Very little has been done to address occlusion problems in order to enable the best moving object tracking with detection The tracking of visual objects is one of the most important components of computer vision. The process of tracking an object (or a group of objects) across time is called object tracking. Visual object tracking is used to identify or link target items over successive video frames. In this study, we analyze the tracking-by-detection strategy, which includes YOLO-based detection and SORT-based tracking. This work elucidates a general approach to tracking and recognizing many objects with an emphasis on accuracy improvement. We aim to revolutionize computer vision by applying Non-Maximum Suppression (NMS) and Intersection over Union (IoU) approaches, and by combining the state-of-the-art YOLO NAS algorithm with conventional tracking methods or an alternative version of the YOLO Algorithm for object identification. It is expected that our work will have a major impact on many different applications, enabling more precise and reliable object tracking and detection in difficult real-world scenarios. Keywords—Multiple Object Detection, Kalman Filters Multiple Object Tracking, DeepSORT, YOLO, IoU, NMS.

Research on moving object tracking with a large number of outliers based on TRESAC++ algorithm

In contrast to the method based on motion equations, image registration proves effective for tracking moving objects in missions where establishing a motion model is unfeasible. However, in cases where the object is captured at varying imaging angles or against a similar background, a large number of outliers may arise during the process of image feature extraction. Consequently, when confronted with a large number of outliers, image registration methods exhibit a drawback in accurate outlier filtering, especially when spatial constraints on feature matching pairs are constrained. Ultimately, these factors can render object tracking inaccurate or even unattainable. In light of the aforementioned circumstances, this paper proposes TRESAC++, which based on a triplet relation feature matching method to effectively filter outliers. To enhance the operational efficiency of the algorithm, Principal Component Analysis is employed for dimensionality reduction, aiming to decrease the incidence of triple matches and subsequently mitigate execution time. To fortify the algorithm's robustness, a triplet relation linked with an initial data subset selection strategy is additionally proposed. Experimental results on five challenging experiments show that TRESAC++ rivals current state-of-the-art techniques in terms of computational cost, while the implementation exhibits better outlier filtering. Additionally, Experiment 4 and Experiment 5 use moving object datasets to confirm TRESAC++'s superior capability in precise object tracking.

Deep Reinforcement Learning-Empowered Cost-Effective Federated Video Surveillance Management Framework.

Video surveillance systems are integral to bolstering safety and security across multiple settings. With the advent of deep learning (DL), a specialization within machine learning (ML), these systems have been significantly augmented to facilitate DL-based video surveillance services with notable precision. Nevertheless, DL-based video surveillance services, which necessitate the tracking of object movement and motion tracking (e.g., to identify unusual object behaviors), can demand a significant portion of computational and memory resources. This includes utilizing GPU computing power for model inference and allocating GPU memory for model loading. To tackle the computational demands inherent in DL-based video surveillance, this study introduces a novel video surveillance management system designed to optimize operational efficiency. At its core, the system is built on a two-tiered edge computing architecture (i.e., client and server through socket transmission). In this architecture, the primary edge (i.e., client side) handles the initial processing tasks, such as object detection, and is connected via a Universal Serial Bus (USB) cable to the Closed-Circuit Television (CCTV) camera, directly at the source of the video feed. This immediate processing reduces the latency of data transfer by detecting objects in real time. Meanwhile, the secondary edge (i.e., server side) plays a vital role by hosting a dynamically controlling threshold module targeted at releasing DL-based models, reducing needless GPU usage. This module is a novel addition that dynamically adjusts the threshold time value required to release DL models. By dynamically optimizing this threshold, the system can effectively manage GPU usage, ensuring resources are allocated efficiently. Moreover, we utilize federated learning (FL) to streamline the training of a Long Short-Term Memory (LSTM) network for predicting imminent object appearances by amalgamating data from diverse camera sources while ensuring data privacy and optimized resource allocation. Furthermore, in contrast to the static threshold values or moving average techniques used in previous approaches for the controlling threshold module, we employ a Deep Q-Network (DQN) methodology to manage threshold values dynamically. This approach efficiently balances the trade-off between GPU memory conservation and the reloading latency of the DL model, which is enabled by incorporating LSTM-derived predictions as inputs to determine the optimal timing for releasing the DL model. The results highlight the potential of our approach to significantly improve the efficiency and effective usage of computational resources in video surveillance systems, opening the door to enhanced security in various domains.

Deep learning-assisted near-Earth asteroid tracking in astronomical images

The large number of near-Earth asteroids (NEAs) has greatly impacted human space activities and Earth security. However, detecting NEAs in astronomical images with complex, varying backgrounds is still extremely challenging. In this paper, we propose a deep segmentation assisted asteroid tracking algorithm, termed DSAT, to construct a possible pipeline for faint NEA tracking in astronomical images. First, the single-frame object detection problem is converted to a segmentation problem, enabling robust extraction of faint potential moving objects. Then, a multiframe motion prior-based moving object tracking algorithm is proposed to find real NEAs. We further propose a distance tolerance criterion to help DSAT achieve effective tracking in practical situations when detection has partially failed. Finally, the pipeline is tested with both simulated and real astronomical images at different SNRs and in crowded fields. The results showed that our pipeline has the potential to detect and track faint NEAs in complex backgrounds. Our code is publicly available at https://github.com/zhenhongdu/DeepSegAsteroidTracker.

Real-Time Moving Object Tracking on Smartphone Using Cradle Head Servo Motor.

The increasing demand for artificially intelligent smartphone cradles has prompted the need for real-time moving object detection. Real-time moving object tracking requires the development of algorithms for instant tracking analysis without delays. In particular, developing a system for smartphones should consider different operating systems and software development environments. Issues in current real-time moving object tracking systems arise when small and large objects coexist, causing the algorithm to prioritize larger objects or struggle with consistent tracking across varying scales. Fast object motion further complicates accurate tracking and leads to potential errors and misidentification. To address these issues, we propose a deep learning-based real-time moving object tracking system which provides an accuracy priority mode and a speed priority mode. The accuracy priority mode achieves a balance between the high accuracy and speed required in the smartphone environment. The speed priority mode optimizes the speed of inference to track fast-moving objects. The accuracy priority mode incorporates CSPNet with ResNet to maintain high accuracy, whereas the speed priority mode simplifies the complexity of the convolutional layer while maintaining accuracy. In our experiments, we evaluated both modes in terms of accuracy and speed.

Three dimensional tracking of rigid objects in motion using 2D optical flows

Detecting and tracking objects in image sequences is paramount for any video analytic. While object detectors have become increasingly robust, motion estimates based on the straightforward approach of running a detector and linking detections are prone to bounding box noise. An algorithm for the monocular estimation of the 3D motion of rigid objects is presented, combining an object detector, minimal camera calibration, and 2D optical flows observed on the image plane. The algorithm utilizes the 2D Delaunay triangulation over geometrically consistent optical flow tracks to identify regions common to the same object. The algorithm is evaluated on the special case of image sequences of vehicles on roads. Experiments on BrnoCompSpeed dataset show that speed estimates from both detector-based tracking (mean error of 1.62 km/h) and optical flow based tracking (mean error of 2.19 km/h) perform competitively on straight roads. An extensive empirical evaluation is also conducted on a new dataset containing synthetic and real world scenes that also include vehicle trajectories involving rotation. A naive baseline bounding box track based method obtained a mean error of 5.29 km/h for vehicle speed, but optical flow tracks performed significantly better with mean error of 1.65 km/h on the new dataset including rotation. With the new method, video analytics such as vehicle speed estimation and lane change detection can obtain precise information about the 3D trajectory of rigid objects in motion.

Machine Learning Based Customized Solution for Deafness and Mute People

Individuals with hearing or speech impairments often possess a higher degree of familiarity with sign language due to its widespread usage. Consequently, a noticeable communication divide exists between those with such impairments and the general populace. A pivotal solution in bridging this gap involves employing human sign language interpreters. Regrettably, the scarcity of sign language interpreters worldwide in comparison to the number of individuals with hearing or speech impairments has resulted in certain individuals being unable to bear the cost of a human interpreter each time they engage in conversation. To address this issue, it is imperative to automate communication in a manner that liberates the deaf community from dependence on human translators. This article centers on the development of an application capable of real-time conversion between American Sign Language and text, along with supplementary functionalities aimed at dismantling the communication barriers faced by individuals with hearing or speech challenges when interacting with the broader public. the primary objective of this application is to accurately perceive and interpret the user's sign language. The initial stage involves training the system to recognize and interpret signs utilizing algorithms for object recognition and motion tracking. For this purpose, a convolutional neural network model was trained employing a meticulously curated American Sign Language dataset. Subsequently, the recognized signs are translated into English, forming grammatically sound words. Incorporated within the system are a language translator and a virtual sign keyboard, augmenting its capabilities. Moreover, a text-to-text transformer, structured on an encoder-decoder framework, is harnessed to identify grammatical inaccuracies and generate coherent phrases. For a comprehensive understanding of the process, detailed elaboration will follow in subsequent sections.

Implementation of Real Time Visual Object Tracking in Clustered Environment using Adaptive Kernal Supported Correlation Filter Algorithm

An equivalent design of an SVM model with the expression of the circulant matrix was produced, which served as the basis for the implementation of IVS in this paper. Of the various methods and planned algorithms for tracking objects, we proposed the Scale Adaptive Kernel Support Correlation Filter as an effective method of optimisation for tracking visually. The proposed work was designed to achieve the following goals: produce a video sequence for tracking moving objects; plan an experimental setup for Identifying moving objects; creating and implementing a moving object tracking method. The suggested method was used to track moving objects in a sequence of videos that had been captured. According to the picture input, an object was initially recognised, and in consecutive frames, it was tracked. The experimental approach was able to correctly overlay the bounding box and track objects without skipping a frame.

Application of neural network in object motion tracking in the context of big data

In the context of big data, the advancements in computer analytics and computational capability have promoted transformative opportunities. At the forefront of this progress, neural networks have emerged as an essential instrument across diverse domains, catalyzing enhancements in operational efficiency. This paper embarks on an exploration of the applications of neural networks within the realm of object motion prediction and tracking, with the primary objective of improving the efficacy and precision of tracking mechanisms. Amidst the escalating complexities of data proliferation, the imperative for streamlined tracking methodologies has intensified. In response, this study investigates the amalgamation of neural networks with object motion prediction and tracking processes. By using the powerful abilities of neural networks, the research aims to bring a significant change to the field. This change will be seen in improved accuracy and faster tracking efficiency. Combining neural networks with motion prediction and tracking creates a cooperative partnership that develops a new system based on data-driven insights. By merging computational power and advanced algorithms, the paper anticipates a fresh direction for tracking technology.

Security standards for real time video surveillance and moving object tracking challenges, limitations, and future: a case study

Security standards for real time video surveillance and moving object tracking challenges, limitations, and future: a case study

Deep features fusion for KCF-based moving object tracking

Real-time object tracking and occlusion handling are critical research areas in computer vision and machine learning. Developing an efficient and accurate object-tracking method that can operate in real-time while handling occlusion is essential for various applications, including surveillance, autonomous driving, and robotics. However, relying solely on a single hand-crafted feature results in less robust tracking. As a hand-crafted feature extraction technique, HOG effectively detects edges and contours, which is essential in localizing objects in images. However, it does not capture fine details in object appearance and is sensitive to changes in lighting conditions. On the other hand, the grayscale feature has computational efficiency and robustness to changes in lighting conditions. The deep feature can extract features that express the image in more detail and discriminate between different objects. By fusing different features, the tracking method can overcome the limitations of individual features and capture a complete representation of the object. The deep features can be generated with transfer learning networks. However, selecting the right network is difficult, even in real-time applications. This study integrated the deep feature architecture and hand-crafted features HOG and grayscale in the KCF method to solve this problem. The object images were obtained through at least three convolution blocks of transfer learning architecture, such as Xception, DenseNet, VGG16, and MobileNet. Once the deep feature was extracted, the HOG and grayscale features were computed and combined into a single stack. In the KCF method, the stacked features acquired the actual object location by conveying a maximum response. The result shows that this proposed method, especially in the combination of Xception, grayscale, and HOG features, can be implemented in real-time applications with a small center location error.

Effective Moving Object Tracking Using Adaptive Background Subtraction with Advanced Probability Evolutionary Algorithm

Tracking moving objects is a very difficult task for many computers. The task of tracking is a moving object. There are many virtual applications such as video surveillance and object recognition. Many ideas have been suggested for moving objects tracking and detection. One of the main problems solving tracking is finding identical objects in different frames. In this article, this application mainly focuses on the detection and tracking of moving objects using adaptive Background subtraction with adaptive probability evolutionary algorithm (AREA) method. Normal probability evolutionary algorithm will track only human motion but our algorithm tracks all the moving objects very accurately. Our proposed system shows the tracked objects with the red mark border.

SA‐FlowNet: Event‐based self‐attention optical flow estimation with spiking‐analogue neural networks

AbstractInspired by biological vision mechanism, event‐based cameras have been developed to capture continuous object motion and detect brightness changes independently and asynchronously, which overcome the limitations of traditional frame‐based cameras. Complementarily, spiking neural networks (SNNs) offer asynchronous computations and exploit the inherent sparseness of spatio‐temporal events. Notably, event‐based pixel‐wise optical flow estimations calculate the positions and relationships of objects in adjacent frames; however, as event camera outputs are sparse and uneven, dense scene information is difficult to generate and the local receptive fields of the neural network also lead to poor moving objects tracking. To address these issues, an improved event‐based self‐attention optical flow estimation network (SA‐FlowNet) that independently uses criss‐cross and temporal self‐attention mechanisms, directly capturing long‐range dependencies and efficiently extracting the temporal and spatial features from the event streams is proposed. In the former mechanism, a cross‐domain attention scheme dynamically fusing the temporal‐spatial features is introduced. The proposed network adopts a spiking‐analogue neural network architecture using an end‐to‐end learning method and gains significant computational energy benefits especially for SNNs. The state‐of‐the‐art results of the error rate for optical flow prediction on the Multi‐Vehicle Stereo Event Camera (MVSEC) dataset compared with the current SNN‐based approaches is demonstrated.