Computer Science ›› 2015, Vol. 42 ›› Issue (12): 297-301.

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Tracking Method of Hand Grasping Objects Based on Feedback from Camshift to Codebook Model

ZHAO Cui-lian, WANG Hong, FAN Zhi-jian and GUO Jing   

  • Online:2018-11-14 Published:2018-11-14

Abstract: In order to solve problem that Camshift algorithm can’t automatically track targets in complex background,an algorithm to detect and track moving objects based on feedback from Camshift to codebook model was proposed.At first,the algorithm detects foreground objects by codebook model and tracks objects in the foreground area by Camshift using color probability distribution.Automatic tracking is achieved by comparison of window sizes and judgment of histogram correlation,and an input search window of the next frame is improved by location prediction and size expansion of window.At the same time,a union of multi-processed rectangular windows is as a feedback to the next frame of the image detection region for codebook model.Finally,the algorithm is applied for determining a grasping status between a hand and objects.The specific process is using the captured images by two cameras to detect and track hand and objects in a static background and then counting the number of grasp by rectangle intersection to verify the tracking algorithm.Since the information feedback reduces the search region of detection and tracking,this algorithm gets a better real-time performance,and some experimental results show that the frame processing rate can increase 130% in a single camera.

Key words: Camshift,Codebook model,Tracking,Grasping objects

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