Ma, Y., Yu, Q., & Cohen, I. (2009). Target tracking with incomplete detection. Computer Vision and Image Understanding, 113(4), 580-587.
In this paper, we address the multiple target tracking problem as a maximum a posteriori problem. We adopt a graph representation of all observations over time. To make full use of the visual observations from the image sequence, we introduce both motion and appearance likelihood. The multiple target tracking problem is formulated as finding multiple optimal paths in the graph. Due to the noisy foreground segmentation, an object may be represented by several foreground regions and similarly one foreground region may correspond to multiple objects. To deal with this problem, we propose merge, split and mean shift operations to generate new hypotheses to the measurement graph. The proposed approach uses a sliding window framework, that aggregates information across a fixed number of frames. Experimental results on both indoor and outdoor data sets are reported. Furthermore, we provide a comparison between the proposed approach with the existing methods that do not merge/split detected blobs.