Triple-feature-based Particle Filter Algorithm Used in Vehicle Tracking Applications

This work is oriented toward video tracking of vehicles in a typical traffic environment, based on particle filters. The proposed tracking algorithm is based on simultaneous usage of three different image features - color, edge orientation, and texture. All three features are related to the contents of a rectangular window that includes both the vehicle that is tracked and local background and they are represented in the form of appropriate histograms. Based on individual estimates produced by every single feature, the resultant estimate is made by their weighted averaged. Weighting factors are adaptively changing depending on the quality of a particular feature, estimated by calculations of average similarities between the reference window and the set of windows on particles' positions. The tracking accuracies of single-feature and three-features-based filters have been verified using the set of traffic sequences illustrating the presence of typical disturbances (shadows, partial and full occlusions, maneuvering etc.).