自适应特征融合与抗遮挡的相关滤波跟踪算法 下载: 729次
Correlation-Filter Tracking Algorithm with Adaptive-Feature Fusion and Anti-Occlusion
1 陕西科技大学电子信息与人工智能学院, 陕西 西安 710021
2 陕西科技大学文理学院, 陕西 西安 710021
图 & 表
图 1. 不同遮挡情况下Girl2视频序列部分帧的跟踪置信度对比结果。(a)未被遮挡;(b)部分遮挡;(c)完全遮挡
Fig. 1. Comparison results of tracking confidence of partial frames of Girl2 video sequence under different occlusions. (a) Not occlusion; (b) slight occlusion; (c) severe occlusion
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图 2. 所提算法框架
Fig. 2. Framework of proposed algorithm
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图 3. 固定融合因子对于跟踪结果的影响。(a) Bird1的精度图;(b) Bird1的CLE图;(c) Bird2的精度图;(d) Bird2的CLE图;(e) Board的精度图;(f) Board的CLE图;(g) Coke的精度图;(h) Coke的CLE图
Fig. 3. Effect of fixed fusion factor on tracking. (a) Precision plot of Bird1; (b) CLE plot of Bird1; (c) precision plot of Bird2; (d) CLE plot of Bird2; (e) precision plot of Board; (f) CLE plot of Board; (g) precision plot of Coke; (h) CLE plot of Coke
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图 4. Twinnings序列采用不同融合权重系数的跟踪结果。(a) whist=0时,第195 frame的跟踪结果;(b) whist=0时,第250 frame的跟踪结果;(c) whist=0.1时,第195 frame的跟踪结果;(d) whist=0.1时,第250 frame的跟踪结果;(e) whist=0.3时,第195 frame的跟踪结果;(f) whist=0.3时,第250 frame的跟踪结果
Fig. 4. Tracking results of Twinnings sequence with different fusion weights coefficients. (a) Tracking results of 195 frame with whist=0; (b) tracking results of 250 frame with whist=0; (c) tracking results of 195 frame with whist=0.1; (d) tracking results of 250 frame with whist=0.1; (e) tracking results of 195 frame with whist=0.3; (f) tracking results of 250 frame with whist=0.3
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图 5. 实验3在OTB-2013数据集上的测试结果。(a) OPE精确度图;(b)成功率图
Fig. 5. Test results of experiment 3 on OTB-2013 dataset. (a) OPE precision plot; (b) success rate plot
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图 6. 实验3在OTB-100上数据集的测试结果。(a) OPE精确度图;(b)成功率图
Fig. 6. Test results of experiment 3 on OTB-100 dataset. (a) OPE precision plot; (b) success rate plot
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图 7. 所提算法与其他4种算法在不同视频序列上的跟踪结果对比。(a) Joggong-2;(b) Coke;(c) Matrix;(d) Football1;(e) Freeman4
Fig. 7. Comparison of tracking results of proposed algorithm with other 4 algorithms on different video sequences. (a) Joggong-2; (b) Coke; (c) Matrix; (d) Football1; (e) Freeman4
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表 1模型更新策略
Table1. Model update strategy
Algorithm 1: Update model |
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Require: Rt, Mt, MSE, gmax of response gt | Ensure: Update model | Occlusion condition: | Not occlusion: Rt>Rthreshold1 && gmax>gthreshold11) Update learning rate ηt, temp, model weights wt, temp and wt, hist2) Update models ht from ht, new and ht-1 like formula (9)3) Update color histogram ρt from ρt, new and ρt-1 like formula (9) | Severe occlusion: Rt<Rthreshold2 && gmax<gthreshold2Do not update models ht=ht-1 and color histogram ρt=ρt-1Slight occlusion: otherwiseSimilar to Not occlusion, but update rate ηt, temp is smaller in this part |
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表 2实验2中跟踪模型的设置及各模型在OTB上的OPE测试结果
Table2. Setting of tracking model in experiment 2 and OPE test results of each model on OTB
Algorithm | Channelreliability | Adaptivemerge | Updatescheme | OTB-2013 | OTB-100 |
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Precision /% | Success /% | Precision /% | Success /% |
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Staple_CR | √ | | | 82.1 | 61.3 | 79.7 | 59.5 | Staple_AM | | √ | | 81.3 | 61.4 | 79.2 | 58.9 | Staple_Update | | | √ | 79.3 | 60.8 | 78.9 | 58.4 | Staple | | | | 78.8 | 59.3 | 78.4 | 57.9 |
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表 37种算法在OTB-2013数据集中11个具有挑战性的属性上的表现
Table3. Performance of seven algorithms on 11 challenging attributes in OTB-2013 datasetunit: %
Attribute | SV | IV | OPR | OCC | BC | DEF | MB | FM | IPR | OV | LR |
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Ours | | | | | | | | | | | 30.3 | fDSST | | | | 55.8 | | 56.4 | | | | | | DSST | 44.7 | 50.4 | 49.2 | 47.8 | 49.8 | 47.8 | 42.3 | 40.5 | 52.0 | 46.5 | 32.5 | Staple | 54.5 | 56.1 | 56.9 | | 55.7 | | 52.6 | 50.1 | 57.6 | 51.8 | | CSK | 35.0 | 36.9 | 38.6 | 36.5 | 42.1 | 34.3 | 30.5 | 31.6 | 39.9 | 34.9 | 35.0 | KCF | 42.7 | 49.3 | 49.5 | 51.4 | 53.5 | 53.4 | 49.7 | 45.9 | 49.7 | 55.0 | 31.2 | CN | 38.4 | 41.4 | 44.1 | 42.5 | 44.9 | 43.4 | 41.0 | 37.3 | 46.9 | 41.0 | 31.1 |
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表 411种算法在OTB-2013和OTB-100测试集上的运行速度对比
Table4. Comparison of running speed of 11 algorithms on OTB-2013 and OTB-100 test datasets
Algorithm | Running speed /(frame·s-1) |
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OTB-2013 | OTB-100 |
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Ours | 37.8657 | 37.3656 | ECO-HC | 35.5110 | 34.6002 | BACF | 27.0998 | 27.4870 | SRDCFdecon | 2.4089 | 2.2993 | CCOT | 0.2279 | 0.2160 | Staple | 44.9039 | 42.8838 | SRDCF | 3.6016 | 3.5327 | CF2 | 11.0193 | 10.4229 | KCF | 127.1455 | 113.4207 | DSST | 32.3246 | 25.2587 | SAMF | 18.5867 | 16.9518 |
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刘海峰, 孙成, 梁星亮. 自适应特征融合与抗遮挡的相关滤波跟踪算法[J]. 激光与光电子学进展, 2020, 57(14): 141014. Haifeng Liu, Cheng Sun, Xingliang Liang. Correlation-Filter Tracking Algorithm with Adaptive-Feature Fusion and Anti-Occlusion[J]. Laser & Optoelectronics Progress, 2020, 57(14): 141014.