Real-time tracking of image regions with changes in geometry and illumination

Historically, SSD or correlation-based visual tracking algorithms have been sensitive to changes in illumination and shading across the target region. This paper describes methods for implementing SSD tracking that is both insensitive to illumination variations and computationally efficient. We first describe a vector-space formulation of the tracking problem, showing how to recover geometric deformations. We then show that the same vector space formulation can be used to account for changes in illumination. We combine geometry and illumination into an algorithm that tracks large image regions on live video sequences using no more computation than would be required to trade with no accommodation for illumination changes. We present experimental results which compare the performance of SSD tracking with and without illumination compensation