Motion Compensated Background Filtering for Real Time Tracking in Moving Background Sequences

This paper describes a new approach to tracking independently moving objects from a moving camera. A background filtering approach is adapted to non-static backgrounds using a motion compensation scheme and gives reliable tracking at superior frame rates to previous approaches. A filtering and object detection system is then described which converts the object mask into a list of objects present in each frame. This list is then passed to a CONDENSATION based tracking system which forms the final stage of the process. Testing the algorithm reveals it is successful detecting and tracking moving objects against non-static backgrounds