Next Article in Journal
A Method Based on Multi-Sensor Data Fusion for Fault Detection of Planetary Gearboxes
Previous Article in Journal
Secure Cooperation of Autonomous Mobile Sensors Using an Underwater Acoustic Network
Article Menu

Export Article

Open AccessArticle
Sensors 2012, 12(2), 1990-2004;

Robust Kernel-Based Tracking with Multiple Subtemplates in Vision Guidance System

College of Mechatronics Engineering and Automation, National University of Defense Technology, Changsha 410073, China
Author to whom correspondence should be addressed.
Received: 9 January 2012 / Revised: 3 February 2012 / Accepted: 8 February 2012 / Published: 10 February 2012
(This article belongs to the Section Physical Sensors)
Full-Text   |   PDF [1973 KB, uploaded 21 June 2014]


The mean shift algorithm has achieved considerable success in target tracking due to its simplicity and robustness. However, the lack of spatial information may result in its failure to get high tracking precision. This might be even worse when the target is scale variant and the sequences are gray-levels. This paper presents a novel multiple subtemplates based tracking algorithm for the terminal guidance application. By applying a separate tracker to each subtemplate, it can handle more complicated situations such as rotation, scaling, and partial coverage of the target. The innovations include: (1) an optimal subtemplates selection algorithm is designed, which ensures that the selected subtemplates maximally represent the information of the entire template while having the least mutual redundancy; (2) based on the serial tracking results and the spatial constraint prior to those subtemplates, a Gaussian weighted voting method is proposed to locate the target center; (3) the optimal scale factor is determined by maximizing the voting results among the scale searching layers, which avoids the complicated threshold setting problem. Experiments on some videos with static scenes show that the proposed method greatly improves the tracking accuracy compared to the original mean shift algorithm. View Full-Text
Keywords: tracking; mean shift; subtemplate; voting; vision guidance tracking; mean shift; subtemplate; voting; vision guidance
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

Share & Cite This Article

MDPI and ACS Style

Yan, Y.; Huang, X.; Xu, W.; Shen, L. Robust Kernel-Based Tracking with Multiple Subtemplates in Vision Guidance System. Sensors 2012, 12, 1990-2004.

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top