Multi-Information Fusion for Scale Selection in Robot Tracking

Mean shift, for its simplicity and efficiency, has achieved a considerable success in robot tracking. For the mean shift based tracking algorithm, the scale of the mean-shift kernel bandwidth is a crucial parameter which reflects the size of tracking window. However, in literature how to properly update or select the bandwidth remains a tough task as the size of the object under consideration changes. In this paper, a weighted average integral projection approach is proposed to extract the local information of the object, and then a multiinformation fusion strategy is suggested for the scale selection, which combines both the global and local information of the sample weight image. Moreover, a coarse-to-fine approximate approach is employed to accelerate the procedure. Experimental results demonstrate that, compared to some existing works, the strategy proposed has a better adaptability as the size of the object changes in clutter environments