引入样本删除机制的TLD粒子群目标跟踪
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摘要
为提高TLD算法在广泛场景下跟踪鲁棒性和实时性的问题,本文从跟踪模块和学习模块两个方面对TLD算法进行了改进,提出引入样本删除机制的TLD粒子群目标跟踪算法。首先,用基于颜色特征的粒子群目标跟踪算法替代TLD算法中原来的跟踪模块,增强TLD算法在应对目标出现非刚性形变、尺度变化、旋转、遮挡等情况下的跟踪鲁棒性。接着,针对TLD算法的学习模块引入样本删除机制,在跟踪过程中为样本库中正负样本数量分别设定一个阈值,当正负样本数都达到各自阈值时,便会启动样本删除机制。然后,对待分类进入样本库的图像块进行等级评价,删除对正负样本表征能力都较弱图像块。最后,将样本库中的正负样本与当前目标进行相似度匹配,删除对当前目标表征能力低的样本。通过对OTB2013和OTB2015数据集中相关视频序列的实验结果证明,本文算法的OPE精确度达到0.687,算法的OPE成功率为0.488,算法运算效率平均提高了25.71%。基本满足广泛场景下目标跟踪的鲁棒性,并显著了提高算法运算效率。
This study improved the tracking robustness and real-time performance of a tracking-learning-detection(TLD)algorithm for a wide range of scenarios by considering two important aspects,namely,the tracking and learning modules.The study proposed a TLD particle swarm optimization(PSO)target-tracking algorithm using a sample deletion mechanism.First,the original tracking module of a TLD algorithm was replaced by a color-feature-based PSO target-tracking algorithm,which enhanced the tracking performance of the TLD algorithm in terms of target non-rigid deformation,scale variation,rotation,and occlusion.Second,a sample deletion mechanism for the learning module of the TLD algorithm was introduced.During the tracking process,a threshold was set for the positive and negative samples.When both the positive and negative samples reach their respective thresholds,the sample deletion mechanism was initiated.The image blocks to be classified into the sample library were then graded,and those with a weak representation ability for both positive and negative samples were deleted.Finally,we matched the positive and negative samples in the sample library with the current target and delete the samples with low representational ability to the current target.Experiments on OTB2013 and OTB2015 datasets show that the one-pass evaluation(OPE)accuracy of the proposed algorithm reaches 0.687,the OPE success rate of the algorithm is 0.488,and the operation efficiency is improved by 25.64% on average.This essentially satisfies the robustness of target tracking in a wide range of scenarios and significantly improves the computational efficiency of the algorithm.
This study improved the tracking robustness and real-time performance of a tracking-learning-detection(TLD)algorithm for a wide range of scenarios by considering two important aspects,namely,the tracking and learning modules.The study proposed a TLD particle swarm optimization(PSO)target-tracking algorithm using a sample deletion mechanism.First,the original tracking module of a TLD algorithm was replaced by a color-feature-based PSO target-tracking algorithm,which enhanced the tracking performance of the TLD algorithm in terms of target non-rigid deformation,scale variation,rotation,and occlusion.Second,a sample deletion mechanism for the learning module of the TLD algorithm was introduced.During the tracking process,a threshold was set for the positive and negative samples.When both the positive and negative samples reach their respective thresholds,the sample deletion mechanism was initiated.The image blocks to be classified into the sample library were then graded,and those with a weak representation ability for both positive and negative samples were deleted.Finally,we matched the positive and negative samples in the sample library with the current target and delete the samples with low representational ability to the current target.Experiments on OTB2013 and OTB2015 datasets show that the one-pass evaluation(OPE)accuracy of the proposed algorithm reaches 0.687,the OPE success rate of the algorithm is 0.488,and the operation efficiency is improved by 25.64% on average.This essentially satisfies the robustness of target tracking in a wide range of scenarios and significantly improves the computational efficiency of the algorithm.
引文
[1]王春平,王暐,刘江义,等.基于色度饱和度-角度梯度直方图特征的尺度自适应核相关滤波跟踪[J].光学精密工程,2016,24(9):2293-2301.WANG CH P,WANG W,LIU J Y,et al..Scale adaptive kernelized correlation filter tracking based on HHS-OG feature[J].Opt.Precision Eng.,2016,24(9):2293-2301.(in Chinese)
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[3]LUO L S,FAN X S.Immune particle filter algorithm for target tracking based on histograms of color and oriented gradient[J].Optical Sensing and Imaging Technology and Applications,2017,10462.
[4]李泽原,孙晓刚,林云.基于卷积神经网络和核相关滤波的物体跟踪算法[J].计算机应用,2017,37(S2):107-111.LI Z Y,SUN X G,LIN Y.Object tracking algorithm based on convolutional neural network and kernel correlation filtering[J].Journal of Computer Applications,2017,37(S2):107-111.(in Chinese)
[5]ZHANG D,ZHANG J,XIA C.Multi-Complementary model for long-term tracking[J].Sensors,2018,18(2):527.
[6]刘教民,郭剑威,师硕.自适应模板更新和目标重定位的相关滤波器跟踪[J].光学精密工程,2018,26(6):1533-1541.LIU J M,GUO J W,SHI SH.Correlation filter tracking based on adaptive learning rate and location refiner[J].Opt.Precision Eng.,2018,26(6):1533-1541.(in Chinese)
[7]BOLME D S,BEVERIDGE J R,DRAPER B A,et al..Visual object tracking using adaptive correlation filters[C].Proceedings of the IEEE International Conference on Computer Vision and Pattern Recognition,San Francisco,CA,USA,2010:2544-2550.
[8]DANELLJAN M,HAGER G,KHAN F S,et al..Accurate scale estimation for robust visual tracking[J].British Machine Vision Conference,2014:65.1-65.11.
[9]HENRIQUES J F,CASEIRO R,MARTINS P,et al..High-Speed tracking with kernelized correlation filters[J].IEEE Transactions on Pattern Analysis&Machine Intelligence,2015,37(3):583-596.
[10]MA C,HUANG J B,YANG X,et al..Hierarchical Convolutional Features for Visual Tracking[C].Proceedings of the IEEE International Conference on Computer Vision,Santiago,Chile,2016:3074-3082.
[11]KALAL Z,MATAS J,MIKOLAJCZYK K.Online learning of robust object detectors during unstable tracking[C].Proceedings of the IEEE International Conference on Computer Vision Workshops(ICCV Workshops),Kyoto,Japan,2009:1417-1424.
[12]胡欣,高佳丽.基于改进的TLD目标跟踪算法[J].计算机应用研究,2019,36(11):1-5.HU X,GAO J L.Target tracking algorithm based on improved TLD[J].Application Research of Computers,2019,36(11):1-5.(in Chinese)
[13]刘曙,狄红卫,姚曼虹.基于自适应尺度的TLD目标跟踪算法[J].光学技术,2017,43(6):542-546.LIU SH,DI H W,YAO M H.TLD target tracking algorithm based on adaptive scale[J].Optical Technique,2017,43(6):542-546.(in Chinese)
[14]吴忠文,费树岷.基于TLD目标跟踪算法的优化[J].工业控制计算机,2018,31(4):77-79.WU ZH W,FEI SH M.Optimization based on TLDtarget tracking algorithm[J].Industrial Control Computer,2018,31(4):77-79.(in Chinese)
[15]KALAL Z,MIKOLAJCZYK K,MATAS J.Facetld:Tracking-learning-detection applied to faces[C].Proceedings of the IEEE International Conference on Image Processing(ICIP),Hong Kong,China,2010:3789-3792.
[16]KALAL Z,MIKOLAJCZYK K,MATAS J.Forward-Backward Error:Automatic Detection of Tracking Failures[C].Proceedings of the IEEEComputer Society International Conference on Pattern Recognition,Istanbul,Turkey,2010:2756-2759.
[17]王明晓.基于改进的TLD目标跟踪算法研究[D].哈尔滨:哈尔滨理工大学,2017.WANG M X.Target Tracking Algorithms Based on Improved TLD[D].Harbin:Harbin University of Science and Technology,2017.(in Chinese)
[18]KALAL Z,MATAS J,MIKOLAJCZYK K.P-Nlearning:Bootstrapping binary classifiers by structural constraints[J].IEEE Computer Vision and Pattern Recognition,2010:49-56.
[19]GUO S Q,ZHANG T,SONG Y L,et al..Color feature-based object tracking through particle swarm optimization with improved inertia weight[J].Sensors,2018,18:1292.
[20]KENNEDY J,EBERHART R.Particle swarm optimization[C].Proceedings of the IEEE International Conference on Neural Networks,Perth,1995,4:1942-1948.
[21]KALAL Z,MIKOLAJCZYK K,MATA J.Tracking-Learning-Detection[J].IEEE Transactions on Software Engineering,2011,34(7):1409-1422.
[22]HARE S,SAFFARI A,TORR P H S.Struck:structured output tracking with kernels[C].Proceedings of the IEEE International Conference on Computer Vision(ICCV),Barcelona,Spain,2011:263-270.
[23]KWON J,LEE K M.Visual tracking decomposition[C].Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition(CVPR),San Francisco,CA,USA,2010:1269-1276.
[24]HENRIQUES J F,CASEIRO R,MARTINS P,et al..Exploiting the circulant structure of tracking-by-detection with kernels[C].In Proceedings of the European Conference on Computer Vision(ECCV),Florence,Italy,2012:702-715.
[25]ZHANG K H,ZHANG L,YANG M H.Realtime compressive tracking[C].Proceedings of the European Conference on Computer Vision(ECCV),Florence,Italy,2012:864-877.
[26]SEVILLA-LARA L,LEARNED-MILLER E.Distribution fields for tracking[C].Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition,Providence,RI,USA,2012:1910-1917.
[27]GRABNER H,GRABNER M,BISCHOF H.Real-time tracking via on-line boosting[C].Proceedings of the British Machine Vision Conference(BMCV),Edinburgh,UK,2006:47-56.
[28]BABENKO B,YANG M H,BELONGIE S.Visual tracking with online multiple instances learning[C].Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition(CVPR),Miami,FL,USA,2009:983-990.
[29]NING J,YANG J,JIANG S,et al..Object tracking via dual linear structured svm and explicit feature map[C].Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition,Las Vegas,NV,USA,2016:4266-4274.
[30]WU Y,LIM J,YANG M H.Online object tracking:a benchmark[C].Proceedings of the IEEEConference on Computer Vision and Pattern Recognition(CVPR),Portland,OR,USA,2013:2411-2418.
[2]程帅,孙俊喜,曹永刚,等.基于色度饱和度-角度梯度直方图特征的尺度自适应核相关滤波跟踪[J].光学精密工程,2015,23(4):1161-1170.CEHNG SH,SUN J X,CAO Y G,et al..Target tracking based on incremental deep learning[J].Opt.Precision Eng.,2015,23(4):1161-1170.(in Chinese)
[3]LUO L S,FAN X S.Immune particle filter algorithm for target tracking based on histograms of color and oriented gradient[J].Optical Sensing and Imaging Technology and Applications,2017,10462.
[4]李泽原,孙晓刚,林云.基于卷积神经网络和核相关滤波的物体跟踪算法[J].计算机应用,2017,37(S2):107-111.LI Z Y,SUN X G,LIN Y.Object tracking algorithm based on convolutional neural network and kernel correlation filtering[J].Journal of Computer Applications,2017,37(S2):107-111.(in Chinese)
[5]ZHANG D,ZHANG J,XIA C.Multi-Complementary model for long-term tracking[J].Sensors,2018,18(2):527.
[6]刘教民,郭剑威,师硕.自适应模板更新和目标重定位的相关滤波器跟踪[J].光学精密工程,2018,26(6):1533-1541.LIU J M,GUO J W,SHI SH.Correlation filter tracking based on adaptive learning rate and location refiner[J].Opt.Precision Eng.,2018,26(6):1533-1541.(in Chinese)
[7]BOLME D S,BEVERIDGE J R,DRAPER B A,et al..Visual object tracking using adaptive correlation filters[C].Proceedings of the IEEE International Conference on Computer Vision and Pattern Recognition,San Francisco,CA,USA,2010:2544-2550.
[8]DANELLJAN M,HAGER G,KHAN F S,et al..Accurate scale estimation for robust visual tracking[J].British Machine Vision Conference,2014:65.1-65.11.
[9]HENRIQUES J F,CASEIRO R,MARTINS P,et al..High-Speed tracking with kernelized correlation filters[J].IEEE Transactions on Pattern Analysis&Machine Intelligence,2015,37(3):583-596.
[10]MA C,HUANG J B,YANG X,et al..Hierarchical Convolutional Features for Visual Tracking[C].Proceedings of the IEEE International Conference on Computer Vision,Santiago,Chile,2016:3074-3082.
[11]KALAL Z,MATAS J,MIKOLAJCZYK K.Online learning of robust object detectors during unstable tracking[C].Proceedings of the IEEE International Conference on Computer Vision Workshops(ICCV Workshops),Kyoto,Japan,2009:1417-1424.
[12]胡欣,高佳丽.基于改进的TLD目标跟踪算法[J].计算机应用研究,2019,36(11):1-5.HU X,GAO J L.Target tracking algorithm based on improved TLD[J].Application Research of Computers,2019,36(11):1-5.(in Chinese)
[13]刘曙,狄红卫,姚曼虹.基于自适应尺度的TLD目标跟踪算法[J].光学技术,2017,43(6):542-546.LIU SH,DI H W,YAO M H.TLD target tracking algorithm based on adaptive scale[J].Optical Technique,2017,43(6):542-546.(in Chinese)
[14]吴忠文,费树岷.基于TLD目标跟踪算法的优化[J].工业控制计算机,2018,31(4):77-79.WU ZH W,FEI SH M.Optimization based on TLDtarget tracking algorithm[J].Industrial Control Computer,2018,31(4):77-79.(in Chinese)
[15]KALAL Z,MIKOLAJCZYK K,MATAS J.Facetld:Tracking-learning-detection applied to faces[C].Proceedings of the IEEE International Conference on Image Processing(ICIP),Hong Kong,China,2010:3789-3792.
[16]KALAL Z,MIKOLAJCZYK K,MATAS J.Forward-Backward Error:Automatic Detection of Tracking Failures[C].Proceedings of the IEEEComputer Society International Conference on Pattern Recognition,Istanbul,Turkey,2010:2756-2759.
[17]王明晓.基于改进的TLD目标跟踪算法研究[D].哈尔滨:哈尔滨理工大学,2017.WANG M X.Target Tracking Algorithms Based on Improved TLD[D].Harbin:Harbin University of Science and Technology,2017.(in Chinese)
[18]KALAL Z,MATAS J,MIKOLAJCZYK K.P-Nlearning:Bootstrapping binary classifiers by structural constraints[J].IEEE Computer Vision and Pattern Recognition,2010:49-56.
[19]GUO S Q,ZHANG T,SONG Y L,et al..Color feature-based object tracking through particle swarm optimization with improved inertia weight[J].Sensors,2018,18:1292.
[20]KENNEDY J,EBERHART R.Particle swarm optimization[C].Proceedings of the IEEE International Conference on Neural Networks,Perth,1995,4:1942-1948.
[21]KALAL Z,MIKOLAJCZYK K,MATA J.Tracking-Learning-Detection[J].IEEE Transactions on Software Engineering,2011,34(7):1409-1422.
[22]HARE S,SAFFARI A,TORR P H S.Struck:structured output tracking with kernels[C].Proceedings of the IEEE International Conference on Computer Vision(ICCV),Barcelona,Spain,2011:263-270.
[23]KWON J,LEE K M.Visual tracking decomposition[C].Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition(CVPR),San Francisco,CA,USA,2010:1269-1276.
[24]HENRIQUES J F,CASEIRO R,MARTINS P,et al..Exploiting the circulant structure of tracking-by-detection with kernels[C].In Proceedings of the European Conference on Computer Vision(ECCV),Florence,Italy,2012:702-715.
[25]ZHANG K H,ZHANG L,YANG M H.Realtime compressive tracking[C].Proceedings of the European Conference on Computer Vision(ECCV),Florence,Italy,2012:864-877.
[26]SEVILLA-LARA L,LEARNED-MILLER E.Distribution fields for tracking[C].Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition,Providence,RI,USA,2012:1910-1917.
[27]GRABNER H,GRABNER M,BISCHOF H.Real-time tracking via on-line boosting[C].Proceedings of the British Machine Vision Conference(BMCV),Edinburgh,UK,2006:47-56.
[28]BABENKO B,YANG M H,BELONGIE S.Visual tracking with online multiple instances learning[C].Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition(CVPR),Miami,FL,USA,2009:983-990.
[29]NING J,YANG J,JIANG S,et al..Object tracking via dual linear structured svm and explicit feature map[C].Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition,Las Vegas,NV,USA,2016:4266-4274.
[30]WU Y,LIM J,YANG M H.Online object tracking:a benchmark[C].Proceedings of the IEEEConference on Computer Vision and Pattern Recognition(CVPR),Portland,OR,USA,2013:2411-2418.