The Enhanced Flock of Trackers

  • Tomáš Vojíř
  • Jiří Matas
Part of the Studies in Computational Intelligence book series (SCI, volume 532)


The paper presents contributions to the design of the Flock of Trackers (FoT). The FoT estimates the pose of the tracked object by robustly combining displacement estimates from a subset of local trackers that cover the object and has been. The enhancements of the Flock of Trackers are: (i) new reliability predictors for the local trackers - the Neighbourhood consistency predictor and the Markov predictor, (ii) new rules for combining the predictions and (iii) introduction of a RANSAC-based estimator of object motion. The enhanced FoT was extensively tested on 62 sequences.Most of the sequences are standard and used in the literature. The improved FoT showed performance superior to the reference method. For all 62 sequences, the ground truth is made publicly available.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  1. 1.The Center for Machine Perception, FEE CTU, PraguePraha 2Czech Republic

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