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Robust probabilistic estimation of uncertain appearance for model-based tracking

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2 Author(s)
Krahnstoever, N. ; Dept. of Comput. Sci. & Eng., Pennsylvania State Univ., University Park, PA, USA ; Sharma, R.

We present a method for appearance management for model-based visual tracking. The approach provides a concise mechanism for mapping image information to a model surface by taking into consideration uncertainties from the mapping process and by propagating appearance information from visible high-confidence surface regions to hidden or low-confidence regions. The method allows acquiring and utilizing appearance information online from available data, eliminating the need for offline appearance information. The problem is modeled with a continuous Markov random field (MRF) with clique potentials defined as energy functionals over color distributions with the Earth mover distance replacing traditional distance measures between random variables. A general MAP-MRF solution usable for general distributions as well as an efficient real-time capable linear close form approximation are presented.

Published in:

Motion and Video Computing, 2002. Proceedings. Workshop on

Date of Conference:

5-6 Dec. 2002