Nonlinear Dynamic Model for Visual Object Tracking on Grassmann Manifolds With Partial Occlusion Handling
Journal article, 2013

This paper proposes a novel Bayesian online learning and tracking scheme for video objects on Grassmann manifolds. Although manifold visual object tracking is promising, large and fast nonplanar (or out-of-plane) pose changes and long-term partial occlusions of deformable objects in video remain a challenge that limits the tracking performance. The proposed method tackles these problems with the main novelties on: 1) online estimation of object appearances on Grassmann manifolds; 2) optimal criterion-based occlusion handling for online updating of object appearances; 3) a nonlinear dynamic model for both the appearance basis matrix and its velocity; and 4) Bayesian formulations, separately for the tracking process and the online learning process, that are realized by employing two particle filters: one is on the manifold for generating appearance particles and another on the linear space for generating affine box particles. Tracking and online updating are performed in an alternating fashion to mitigate the tracking drift. Experiments using the proposed tracker on videos captured by a single dynamic/static camera have shown robust tracking performance, particularly for scenarios when target objects contain significant nonplanar pose changes and long-term partial occlusions. Comparisons with eight existing state-of-the-art/most relevant manifold/nonmanifold trackers with evaluations have provided further support to the proposed scheme.

piecewise geodesics

Bayesian tracking

online manifold learning

nonlinear state-space modeling

particle filters (PFs)

Grassmann manifolds

visual object tracking

man- ifold tracking


Zulfiqar Hasan Khan

Chalmers, Signals and Systems, Signal Processing and Biomedical Engineering

Irene Yu-Hua Gu

Chalmers, Signals and Systems, Signal Processing and Biomedical Engineering

IEEE Transactions on Cybernetics

2168-2267 (ISSN) 21682275 (eISSN)

Vol. 43 6 2005-2019 6420919

Areas of Advance

Information and Communication Technology


Subject Categories

Computational Mathematics


Signal Processing

Computer Vision and Robotics (Autonomous Systems)



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