The mean shift algorithm is an efficient way for object tracking. However, there is presently no clear mechanism for selecting kernel bandwidth while the object is changing in size. This paper presents a novel bandwidth selection method for mean shift based rigid object tracking. The kernel bandwidth is updated by discovering the scale parameters of the object's affine model that are estimated by using the correspondences between the corner object in two consecutive frames. The centroid of the object is registered by a special backward tracking method. Therefore, we can not only get translation parameter to simplify affine model but also improve the accuracy of finding corner correspondences. In addition, the M-estimate method is employed to reject mismatched pairs (outliers) so as to get better regression results. We have applied the proposed method to track vehicles changing in size with encouraging results.
Object Tracking Based on Multi-feature Mean-shift Algorithm