TY - JOUR
T1 - A Four-Model Based IMM Algorithm for Real-Time Visual Tracking of High-Speed Maneuvering Targets
AU - Sánchez-Ramírez, Edwards Ernesto
AU - Rosales-Silva, Alberto Jorge
AU - Vianney-Kinani, Jean Marie
AU - Alfaro-Flores, Rogelio Antonio
N1 - Publisher Copyright:
© 2018, Springer Nature B.V.
PY - 2019/8/15
Y1 - 2019/8/15
N2 - In recent years, visual tracking algorithms based on state estimators have been developed in order to improve the performance during tracking tasks. However, this performance changes according to target type, object kinematics and scenario complexity. When working with high-speed maneuvering targets, tracking errors increase considerably due to low response of estimators as well as the kinematic mismatch betwen the real motion profile and the one assumed by the estimator. Some examples of objects that present this high-speed behavior are rockets, aircrafts and missiles. To overcome this visual tracking problem, this work proposes an interacting multiple model algorithm based on four kinematic models: constant velocity, constant acceleration, constant turn and thrust acceleration. We present three different scenarios with complex maneuvers for comparison study, and experimental results show that visual tracking is improved when using the proposed strategy.
AB - In recent years, visual tracking algorithms based on state estimators have been developed in order to improve the performance during tracking tasks. However, this performance changes according to target type, object kinematics and scenario complexity. When working with high-speed maneuvering targets, tracking errors increase considerably due to low response of estimators as well as the kinematic mismatch betwen the real motion profile and the one assumed by the estimator. Some examples of objects that present this high-speed behavior are rockets, aircrafts and missiles. To overcome this visual tracking problem, this work proposes an interacting multiple model algorithm based on four kinematic models: constant velocity, constant acceleration, constant turn and thrust acceleration. We present three different scenarios with complex maneuvers for comparison study, and experimental results show that visual tracking is improved when using the proposed strategy.
KW - High-speed maneuvering
KW - Interactive multiple model
KW - Real-time
KW - Visual tracking
UR - http://www.scopus.com/inward/record.url?scp=85053546976&partnerID=8YFLogxK
U2 - 10.1007/s10846-018-0926-1
DO - 10.1007/s10846-018-0926-1
M3 - Artículo
SN - 0921-0296
VL - 95
SP - 761
EP - 775
JO - Journal of Intelligent and Robotic Systems: Theory and Applications
JF - Journal of Intelligent and Robotic Systems: Theory and Applications
IS - 2
ER -