This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.

Search for Publication

Year(s) from:  to 
Keywords (separated by spaces):

Color Features for Tracking Non-Rigid Objects

K. Nummiaro, E. Koller-Meier and L. Van Gool
Special Issue on Visual Surveillance, ACTA Automatica Sinica (Chinese Journal of Automation)


Robust real-time tracking of non-rigid objects is a challenging task. Color distributions provide an efficient feature for this kind of tracking problems as they are robust to partial occlusion, are rotation and scale invariant and computationally efficient. This article presents the integration of color distributions into particle filtering, which has typically been used in combination with edge-based image features. Particle filters offer a probabilistic framework for dynamic state estimation and have proven to work well in cases of clutter and occlusion. To overcome the problem of appearance changes, an adaptive model update is introduced during temporally stable image observations. Furthermore, an initialization strategy is discussed since tracked objects may disappear and reappear.

Download in postscript format
Download in pdf format
  author = {K. Nummiaro and E. Koller-Meier and L. Van Gool},
  title = {Color Features for Tracking Non-Rigid Objects},
  journal = {Special Issue on Visual Surveillance, ACTA Automatica Sinica (Chinese Journal of Automation)},
  year = {2003},
  month = {},
  pages = {},
  volume = {},
  number = {},
  keywords = {Particle filtering, color distribution, Bhattacharyya coefficient}