Utilization and experimental evaluation of occlusion aware kernel correlation filter tracker using RGB-D

Abstract

Unlike deep-learning which requires large training datasets, correlation filter-based trackers like Kernelized Correlation Filter (KCF) uses implicit properties of tracked images (circulant matrices) for training in real-time. Despite their practical application in tracking, a need for a better understanding of the fundamentals associated with KCF in terms of theoretically, mathematically, and experimentally exists. This thesis first details the workings prototype of the tracker and investigates its effectiveness in real-time applications and supporting visualizations. We further address some of the drawbacks of the tracker in cases of occlusions, scale changes, object rotation, out-of-view and model drift with our novel RGB-D Kernel Correlation tracker. We also study the use of particle filter to improve trackers\u27 accuracy. Our results are experimentally evaluated using a) standard dataset and b) real-time using Microsoft Kinect V2 sensor. We believe this work will set the basis for better understanding the effectiveness of kernel-based correlation filter trackers and to further define some of its possible advantages in tracking