Object Tracking Method Using PTAMM and Estimated Foreground Regions

  • So Hayakawa
  • Shinji Fukui
  • Yuji Iwahori
  • M. K. Bhuyan
  • Robert J. Woodham
Part of the Studies in Computational Intelligence book series (SCI, volume 578)


This chapter proposes a new approach for tracking moving objects in videos taken by a hand-held camera. The proposed method is based on the particle filter. The method is robust to occlusion by other objects. The 3D point map calculated by the Parallel Tracking and Multiple Mapping (PTAMM) is used for obtaining the positional relation between the target object and other moving objects. This causes improving the accuracy of the judgement of occlusion and being able to track the target object robustly when it is hidden by the others. The method uses the estimated foreground regions for calculating a part of likelihood. This increases the robustness of the tracking when the camera moving with rotation is used. The effectiveness of the proposed method is shown through the experiments using real videos.


Object tracking Particle filter PTAMM 3D point map 



Fukui’s research is supported by JSPS Grant-in-Aid for Young Scientists (B) (23700199). Iwahori’s research is supported by JSPS Grant-in-Aid for Scientific Research (C) (26330210) and a Chubu University Grant. Woodham’s research is supported by the Natural Sciences and Engineering Research Council (NSERC).


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • So Hayakawa
    • 1
  • Shinji Fukui
    • 2
  • Yuji Iwahori
    • 1
  • M. K. Bhuyan
    • 3
  • Robert J. Woodham
    • 4
  1. 1.Chubu UniversityKasugaiJapan
  2. 2.Aichi University of EducationKariyaJapan
  3. 3.Indian Institute of TechnologyGuwahatiIndia
  4. 4.University of British ColumbiaVancouverCanada

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