Many tracking algorithms have difficulties dealing with occlusions and background clutters, and consequently don't converge to an appropriate solution. Tracking based on the mean shift algorithm has shown robust performance in many circumstances but still fails e.g.\ when encountering dramatic intensity or colour changes in a pre-defined neighbourhood. In this paper, we present a robust tracking algorithm that integrates the advantages of mean shift tracking with those of tracking local invariant features. These features are integrated into the mean shift formulation so that tracking is performed based both on mean shift and feature probability distributions, coupled with an expectation maximisation scheme. Experimental results show robust tracking performance on a series of complicated real image sequences.
['Huiyu Zhou', 'Gerald Schaefer', 'Yuan Yuan', 'M. Emre Celebi']
Can Mean Shift Trackers Perform Better