Real-time tracking of deformable objects based on MOK algorithm

作     者：Junhua Yan Zhigang Wang Shunfei Wang 

作者机构：College of Astronautics Nanjing University of Aeronautics and Astronautics 

出 版 物：《Journal of Systems Engineering and Electronics》 (系统工程与电子技术（英文版）)

年 卷 期：2016年第27卷第2期

页      面：477-483页

核心收录：

学科分类：08[工学] 080203[工学-机械设计及理论] 0802[工学-机械工程] 

基　　金：supported by the National Natural Science Foundation of China(61471194) the Fundamental Research Funds for the Central Universities the Science and Technology on Avionics Integration Laboratory and Aeronautical Science Foundation of China(20155552050) the CASC(China Aerospace Science and Technology Corporation) Aerospace Science and Technology Innovation Foundation Project the Nanjing University of Aeronautics And Astronautics Graduate School Innovation Base(Laboratory)Open Foundation Program(kfjj20151505) 

主　　题：Kalman prediction oriented FAST and rotated BRIEF(ORB) match deformation real time tracking 

摘      要：The traditional oriented FAST and rotated BRIEF（ORB） algorithm has problems of instability and repetition of keypoints and it does not possess scale invariance. In order to deal with these drawbacks, a modified ORB（MORB） algorithm is proposed. In order to improve the precision of matching and tracking, this paper puts forward an MOK algorithm that fuses MORB and Kanade-Lucas-Tomasi（KLT）. By using Kalman, the object＇s state in the next frame is predicted in order to reduce the size of search window and improve the real-time performance of object tracking. The experimental results show that the MOK algorithm can accurately track objects with deformation or with background clutters, exhibiting higher robustness and accuracy on diverse datasets. Also, the MOK algorithm has a good real-time performance with the average frame rate reaching 90.8 fps.