A hierarchical anti-occlusion tracking algorithm based on DMPF and ORB

An important issue in video target tracking is to deal with occlusion problem. In this paper, a hierarchical anti-occlusion tracking algorithm based on Dual Mode Particle Filter (DMPF) and Oriented FAST and Rotated BRIEF (ORB) is proposed to improve the location accuracy under different occlusion conditions in video target tracking. In the first layer, DMPF is used to track target and preliminarily locate its position under various occlusion status. By using corner matching in the second layer, the target is precisely located according to ORB similarity and corner coordinate, thus a more accurate position of target is obtained. A modularized occlusion judgment scheme is also presented to switch tracking mode timely and accurately in DMPF and a Quantified Matrix based on Weighted RGB color space (WQM) is introduced for both color feature creation and corner detection to save operation time. Simulation results show that the proposed algorithm could provide high tracking accuracy in a real-time manner for different occlusion status.