RGB-D tracker under Hierarchical structure

How to track the target robustly is a challenging task in the field of computer vision. Occlusion as one of the most difficult problems, occurs due to the information lost when three-dimensional subjects are projected in two-dimensional interface, therefore, the 2D or 3D tracking algorithms which adopted depth information that expects to rely on three-dimensional special structure to resolve these problems and made somewhat progress. The 2D tracking algorithm is not efficient in fully using depth information, and the 3D tracking method is not robust because of the lack of mature 3D feature extraction method, which fairly restricts the actual tracking effect. Responding to above questions, we propose an adoption of adaptive quantified depth information, establish an adaptive hierarchical structure according to various scenarios. Hierarchical structure can filter the foreground and background information to reduce the interference in tracking, at the same time simplify the use of the depth information. Combined with kernel correlation filter tracking method, we design the algorithm using 2D apparent model under the spatial structures, which is efficient to deal with the problems of occlusion and the change of target scale, and prove its effectiveness on Princeton Tracking Dataset.