A New Framework of Moving Object Tracking based on Object Detection-Tracking with Removal of Moving Features

Object Tracking (OT) on a Moving Camera so-called Moving Object Tracking (MOT) is extremely vital in Computer Vision. While other conventional tracking methods based on fixed camera can only track the objects in its range, a moving camera can tackle this issue by following the objects. Moreover, single tracker is used widely to track object but it is not effective due to the moving camera because the challenges such as sudden movements, blurring, pose variation. The paper proposes a method inherited by tracking by detection approach. It integrates a single tracker with object detection method. The proposed tracking system can track object efficiency and effectively because object detection method can be used to find the tracked object again if the single tracker loses track. Three main contributions are presented in the paper as follow. First, the proposed Unified Visual based-MOT system can do the tasks such as Localization, 3D Environment Reconstruction and Tracking based on Stereo Camera and Inertial Measurement Unit (IMU). Second, it takes into account camera motion and the moving objects to improve the precision rate in localization and tracking. Third, proposed tracking system based on integration of single tracker as Deep Particle Filter and Object Detection as Yolov3. The overall system is tested on the dataset KITTI 2012, and it has achieved a good accuracy rate in real time.