MATEC Web Conf.
Volume 125, 201721st International Conference on Circuits, Systems, Communications and Computers (CSCC 2017)
|Number of page(s)||8|
|Published online||04 October 2017|
Optimized UAV object tracking framework based on Integrated Particle filter with ego-motion transformation matrix
1 Department of Electrical Engineering, Military Technical College, Egypt
2 Computer Engineering Department, New Cairo Academy, Egypt
3 Computer Engineering Department, Helwan University, Egypt
4 Electrical Department, Military Technical College, Egypt
* Corresponding author: email@example.com
Vision based object tracking problem still a hot and important area of research specially when the tracking algorithms are performed by the aircraft unmanned vehicle (UAV). Tracking with the UAV requires special considerations due to the flight maneuvers, environmental conditions and aircraft moving camera. The ego motion calculations can compensate the effect of the moving background resulted from the moving camera. In this paper an optimized object tracking framework is introduced to tackle this problem based on particle filter. It integrates the calculated ego motion transformation matrix with the dynamic model of the particle filter during the prediction stage. Then apply the correction stage on the particle filter observation model which based on two kinds of features includes Haar-like Rectangles and edge orientation histogram (EOH) features. The Gentle AdaBoost classifier is used to select the most informative features as a preliminary step. The experimental results achieved more than 94.6% rate of successful tracking during different scenarios of the VIVID database in real time tracking speed.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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