期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2018
卷号：15
期号：1
DOI：10.1177/1729881417750724
语种：English
出版社：SAGE Publications
摘要：Traditional tracking-by-detection methods use online classifier to track object, and the classifier can be degenerated easily using self-learning process. The article presents a multiple instance learning (MIL) tracking method based on a semi-supervised learning model with Fisher linear discriminant (MILFLD). First, the overlap rate of sampled instances and tracking object served as the prior information. Using both labeled and unlabeled data, the tracking drift problem in the learning model could be alleviated. Second, the lost function of MILFLD is built using Fisher linear discriminant model incorporated with priors. Hence the optimal classifier can be selected out directly in instance level. Last but not least, the classifiers are chosen by gradient descent method, assuring the maximum descent of lost function. Therefore, the classifiers selected at previous frames are still discriminative to future frames, which can help to constrain the error propagation. Comparison experiments show that the center location errors of online AdaBoosting , online MIL tracking, weighted MIL tracking (WMIL), compressive tracking (CT), struck tracking, and MILFLD are 78, 66, 62,74, 59, and 25 pixels, respectively, which demonstrates the tracking accuracy of our method. The experiments of robot motion tracking in realistic scenario have been complemented for comparison as well. Despite the variations in illumination, deformation, or occlusions of the objects, the proposed method can track the target accurately and has high real-time performance.
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