Combining Texture and Edge Planar Trackers based on a local Quality Metric

A new probabilistic tracking framework for integrating information available from various visual cues is presented in this paper. The framework allows selection of "good" features for each cue, along with factors of their "goodness" to select the best combination form. Two particle filter based trackers, which use edge and texture features, run independently. The output of the master tracker is computed using democratic integration using the "goodness" weights. The final output is used as apriori for both tracker in the next iteration. Finally, particle filters are used to deal with non-Gaussian errors in feature extraction / prior computation. Results are shown for planar object tracking