NDLI: Vision-based hyper-real-time object tracker for robotic applications

Content Provider	IEEE Xplore Digital Library
Author	Kolarow, A. Brauckmann, M. Eisenbach, M. Schenk, K. Einhorn, E. Debes, K. Gross, H.-M.
Copyright Year	2012
Description	Author affiliation: Neuroinformatics and Cognitive Robotics Lab at Ilmenau University of Technology, Germany (Kolarow, A.; Eisenbach, M.; Schenk, K.; Einhorn, E.; Debes, K.; Gross, H.-M.) \|\| L-1 Identity Solutions AG, Bochum, Germany (Brauckmann, M.)
Abstract	Fast vision-based object and person tracking is important for various applications in mobile robotics and Human-Robot Interaction. While current state-of-the-art methods use descriptive features for visual tracking, we propose a novel approach using a sparse template based feature set, which is drawn from homogeneous regions on the object to be tracked. Using only a small number of simple features, without complex descriptors in combination with logarithmic-search, the tracker performs at hyper-real-time on HD-images without the use of parallelized hardware. Detailed benchmark experiments show that it outperforms most other state-of-the-art approaches for real-time object and person tracking in quality and runtime. In the experiments we also show the robustness of the tracker and evaluate the effects of different initialization methods, feature sets, and parameters on the tracker. Although we focus on the scenario of person and object tracking in robot applications, the proposed tracker can be used for a variety of other tracking tasks.
Starting Page	2108
Ending Page	2115
File Size	2114740
Page Count	8
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385843
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Image color analysis Search problems Robots Real-time systems Optimized production technology
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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