Joint Probabilistic Techniques for Tracking Multi-Part Objects

Abstract

Common objects such as people and cars comprise many visual parts and attributes, yet image-based tracking algorithms are often keyed to only one of a target's identifying characteristics. In this paper, we present a framework for combining and sharing information among several state estimation processes operating on the same underlying visual object. Well-known techniques for joint probabilistic data association are adapted to yield increased robustness when multiple trackers attuned to disparate visual cues are deployed simultaneously. We also formulate a measure of tracker confidence, based on distinctiveness and occlusion probability, which permits the deactivation of trackers before erroneous state estimates adversely affect the ensemble. We discuss experiments focusing on color-region- and snake-based tracking that demonstrate the efficacy of this approach.