Descriptor-based tracking algorithm using a depth camera

The appearance of inexpensive high-quality video cameras and depth cameras resulted in the development of a large number of object-tracking algorithms. In this paper, a new descriptor-based algorithm for real-time object tracking using the information from a Microsoft Kinect depth camera is proposed. As a descriptor for the object tracked, histograms of oriented gradients calculated from the circular sliding regions of the scene image are used. The information on the depth of the scene is used when the image of the object of interest is partially occluded by other objects in the scene. To speed up the tracking process, a model for predicting the object motion is used. To ensure real-time tracking with the proposed algorithm, a multicore graphics processor is used.