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Open AccessArticle

Global Motion-Aware Robust Visual Object Tracking for Electro Optical Targeting Systems

1
School of Electronics Engineering, Kyungpook National University, Daehakro 80, Daegu 41566, Korea
2
Hanwha Systems Co., 1gongdanro, Gumi 39376, Korea
3
Faculty of Computer and Information Science, University of Ljubljana, 1501 Ljubljana, Slovenia
4
Research Center for Neurosurgical Robotic System, Kyungpook National University, Daehakro 80, Daegu 41566, Korea
*
Author to whom correspondence should be addressed.
Sensors 2020, 20(2), 566; https://doi.org/10.3390/s20020566
Received: 1 November 2019 / Revised: 14 January 2020 / Accepted: 16 January 2020 / Published: 20 January 2020
(This article belongs to the Special Issue Visual Sensors for Object Tracking and Recognition)
Although recently developed trackers have shown excellent performance even when tracking fast moving and shape changing objects with variable scale and orientation, the trackers for the electro-optical targeting systems (EOTS) still suffer from abrupt scene changes due to frequent and fast camera motions by pan-tilt motor control or dynamic distortions in field environments. Conventional context aware (CA) and deep learning based trackers have been studied to tackle these problems, but they have the drawbacks of not fully overcoming the problems and dealing with their computational burden. In this paper, a global motion aware method is proposed to address the fast camera motion issue. The proposed method consists of two modules: (i) a motion detection module, which is based on the change in image entropy value, and (ii) a background tracking module, used to track a set of features in consecutive images to find correspondences between them and estimate global camera movement. A series of experiments is conducted on thermal infrared images, and the results show that the proposed method can significantly improve the robustness of all trackers with a minimal computational overhead. We show that the proposed method can be easily integrated into any visual tracking framework and can be applied to improve the performance of EOTS applications.
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Keywords: visual object tracking; camera motion; motion aware; robust tracking visual object tracking; camera motion; motion aware; robust tracking
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MDPI and ACS Style

Kim, B.H.; Lukezic, A.; Lee, J.H.; Jung, H.M.; Kim, M.Y. Global Motion-Aware Robust Visual Object Tracking for Electro Optical Targeting Systems. Sensors 2020, 20, 566.

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