Accurate Tracking of Manoeuvring Target using Scale Estimation and Detection

  • Zahir Ahmed Ansari DRDO-Instruments Research & Development Establishment, Dehradun- 248 008 http://orcid.org/0000-0002-4670-1318
  • Madhav Ji Nigam Indian Institute of Technology, Roorkee - 247 667
  • Avnish Kumar DRDO-Instruments Research & Development Establishment, Dehradun - 248 008
Keywords: Visual Tracking, Target Detection, Prediction, Correlation filter, Quadratic regression, Extended Kalman filter, Target scaling

Abstract

Camera zoom operation and fast approaching/receding target causes scaling of acquired target in video frames. Fast moving target manifests in large inter-frame motion. In general, non-uniform background degrades performance of tracking algorithms. Fast Fourier transform (FFT)-based Correlation algorithms improve tracking in this scenario, but their applications is limited to small inter-frame motion. Increasing search region has implication on execution speed of the algorithms. Rapid target scaling, non-uniform background and large inter-frame motion of target hinder accurate and long term visual tracking. These challenges have been addressed for extended target tracking by augmenting fast discriminative scale space tracking (fDSST) algorithm with probable target location prediction and target detection. Localisation of fast motion has been achieved by applying fused outputs of Kalman filter and quadratic regression based prediction before applying fDSST. It has helped in accurate localisation of fast motion without increasing search region. In each frame, target location and size have been estimated using fDSST and further refined by target detection near this location. Smoothing and limiting of trajectory and size of detected target has enhanced tracking performance. Experimental results show considerable improvement of precision, success rate and centre location error tracking performance against state-of-the-art trackers in stringent conditions.

Author Biographies

Zahir Ahmed Ansari, DRDO-Instruments Research & Development Establishment, Dehradun- 248 008

Dr Zahir Ahmed Ansari has obtained BTech from AMU Aligarh and MTech from IIT Kharagpur in visual information processing and embedded systems. His areas of interest are line-of-sight stabilisation and Visual Tracking. He has completed his PhD from IIT Roorkee. He joined IRDE, Dehradun in 2003 and involved in development of gimballed seeker, LOS stabilised sights and electro-optical tracking systems.

Madhav Ji Nigam, Indian Institute of Technology, Roorkee - 247 667

Dr Madhav Ji Nigam received his BTech degree in electronics and communication engineering from Regional Engineering College, Warangal, in 1976, his ME degree in control and guidance, in 1978 and his PhD in electronics and communication engineering in 1992 from the University of Roorkee (Now IIT-Roorkee). Presently, he is working as professor in IIT, Roorkee. His area of research includes guidance, control and tracking for peace time work and industry.

Avnish Kumar, DRDO-Instruments Research & Development Establishment, Dehradun - 248 008

Mr Avnish Kumar received the BTech (Electrical) and MTech (Electronics) from IIT Roorkee. Currently he is working in IRDE, Dehradun and is guiding a team of scientists for the design and development of line-of-sight stabilisation, electro-optical surveillance and fire control systems for various platforms. 

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Published
2019-09-17
How to Cite
Ansari, Z., Nigam, M., & Kumar, A. (2019). Accurate Tracking of Manoeuvring Target using Scale Estimation and Detection. Defence Science Journal, 69(5), 495-502. https://doi.org/10.14429/dsj.69.13042