MACHINE PERCEPTION AND ROBOTICS GROUP

Dept. of Robotics Science and Technology,
Chubu University

This paper describes an end-to-end method for extracting moving targets from a real-time video stream, classifying them into predefined categories according to image-based properties, and then robustly tracking them. Moving targets are detected using the pixel wise difference between consecutive image frames. A classification metric is applied these targets with a temporal consistency constraint to classify them into three categories: human, vehicle or background clutter. Once classified targets are tracked by a combination of temporal differencing and template matching. The resulting system robustly identifies targets of interest, rejects background clutter and continually tracks over large distances and periods of time despite occlusions, appearance changes and cessation of target motion.