Wireless Vision based Real time Object Tracking System Using Template Matching

ACEEE Int. J. on Network Security, Vol. 02, No. 01, Jan 2011

Wireless Vision based Real time Object Tracking
System Using Template Matching
I Manju Jackin1, M Manigandan2
1
Assistant Professor, Velammal Engineering College, Department of ECE, Chennai, INDIA
Email: rebejack@gmail.com
2
Senior Lecturer, Velammal Engineering College, Department of ECE, Chennai, INDIA
Email: mani.mit2005@gmail.com

Abstract— In the present work the concepts of template There are three key steps in implementation of our object
matching through Normalized Cross Correlation (NCC) has tracking system:
been used to implement a robust real time object tracking • Detection of interesting moving objects,
system. In this implementation a wireless surveillance pinhole
• Tracking of such objects from frame to frame,
camera has been used to grab the video frames from the non
ideal environment. Once the object has been detected it is • Analysis of object tracks to automate the disc
tracked by employing an efficient Template Matching mechanism
algorithm. The templates used for the matching purposes are A basic problem that often occurs in image processing
generated dynamically. This ensures that any change in the is the determination of the position of a given pattern in an
pose of the object does not hinder the tracking procedure. To image or part of an image, the so-called region of interest.
automate the tracking process the camera is mounted on a The two basic cases are
disc coupled with stepper motor, which is synchronized with a • The position of the pattern in unknown
tracking algorithm. As and when the object being tracked
moves out of the viewing range of the camera, the setup is
• An estimate for the position of the pattern is not
automatically adjusted to move the camera so as to keep the available
object of about 360 degree field of view. The system is capable Usually, both cases have to be treated to solve the
of handling entry and exit of an object. The performance of problem of determining the position of a given pattern in an
the proposed Object tracking system has been demonstrated image. In the latter case the information about the position
in real time environment both for indoor and outdoor by of the pattern can be used to reduce the computational
including a variety of disturbances and a means to detect a effort significantly. It is also known as feature tracking in a
loss of track. sequence of images [5], [6].
For both feature tracking and to know the initial
Index Terms— Normalized Cross correlation, template
matching, Tracking, Wireless vision
estimations of the position of the given pattern, a lot of
different well known algorithms have been developed [7],
I. INTRODUCTION [8] .One basic approach that can be used in both cases
mentioned above, is template matching. This means that
Object tracking is one of the most important subjects in the position of the given pattern is determined by a pixel-
video processing. It has wide range of applications wise comparison of the image with a given template that
including traffic surveillance, vehicle navigation, gesture contains the desired pattern. For this, the template is shifted
understanding, security camera systems and so forth. ‘ u’ discrete steps in the x direction and v steps in the y
Tracking objects can be complex [1] due to loss of direction of the image and then the comparison is
information caused by projection of the 3D world on a 2D calculated over the template area for each position (u,v).To
image, noise in images, complex object motion, non rigid calculate this ,normalized cross correlation is a choice in
or articulated nature of objects [2], partial and full object many cases [5]. Nevertheless it is computationally
occlusions, complex object shapes, scene illumination expensive and therefore a fast correlation algorithm that
changes, and real-time processing requirements. requires fewer calculations than the basic version is of
Tracking is made simple by imposing constraints on the interest. In this paper we propose a complete real time
motion and/or appearance of objects. In our application we object tracking system which combines template matching
have tried to minimize the number of constraints on the with normalized cross correlation.
motion and appearance of the object. The only constraint Related works are discussed in Section II and the details
on the motion of the object is that it should not make about template matching are discussed in Section III. In
sudden change in the direction of motion while moving out Section IV we discuss about the proposed system. The
of the viewing range of the camera. Unlike other system model implementation is discussed in Section V
algorithms [3] the present algorithm is capable of handling and the results are discussed in section VI.
the entry and exit of an object. Also, unlike [3],[4] , no
color information is required for tracking an object. There II. RELATED WORKS
is no major constraint on the appearance of the object
though an object which is a little brighter than the Tracking lays the foundation for many application areas
background gives better tracking results. including augmented reality, visual servoing and vision

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based industrial applications. Consequently, there is a huge the frame rate is not very high because of their complex
amount of related publications. The methods used for real cost function. Moreover image blurring poses a problem
time 3D tracking can be divided into four categories: Line for feature extraction.
based tracking, template based tracking, feature based Hybrid tracking approaches combine two or more of the
tracking and hybrid approaches. aforementioned approaches. Some recent related
Line based tracking requires a line model of the tracked publications include [22], which combines template-based
object. The pose is determined by matching a projection of tracking and line-based tracking. In [21] the authors
the line model to the lines extracted in the image. One of combine line-based tracking and feature-based tracking.
the first publications in this field was [9].Recently a real Even though these algorithms perform well, the line-based
time line tracking system which uses multiple-hypothesis tracking only improves the results for a few cases and
line tracking was proposed in [10].The main disadvantage might corrupt the result in the case of background clutter.
of line tracking is that it has severe problems with In [23] the authors use a template-based method for
background clutter and image blurring so that in practice it tracking small patches on the object, which are then used
cannot be applied to applications we are targeting. for point based pose estimation. Since this approach uses a
Template-based tracking fits better into our scenarios. It template-based method for tracking it cannot deal with fast
uses a reference template of the object and tracks it using object motion.
image differences. These works nicely for well textured
objects and small inter frame displacements. One of the III. TEMPLATE MATCHING
first publications on template-based tracking [11] was
using the optical flow method. In order to improve the Template matching is an important research area with
strong roots in detection theory [24],[25]. It has obvious
efficiency of the tracking and to deal with more complex
objects and/or camera motions, other approaches were applications in computer and robot vision, stereography,
proposed [12],[13]. In [14] the authors compare these image analysis and motion estimation [24]. Template
approaches and show that they all have an equivalent matching in the context of an image processing is a process
convergence rate and frequency up to a first order of locating the position of a sub image within an image of
the same, or more typically, a larger size[26],[28],[27].
approximation with some being more efficient than others.
A more recently suggested approach is the Efficient Second Template matching can also be described as a process to
Order Minimization (ESM) algorithm [15], whose main determine the similarity between two images. The sub
image is referred to as the template image and the larger
contribution consists in finding a parameterizations and an
algorithm, which allow achieving second-order image is referred to as the search area (main image) [25],
convergence at the computational cost and consequently [26], [28], [27]. The template matching process involves
shifting the template over the search area and computing a
the speed of first-order methods.
Similar to template-based tracking, feature-based also similarity between the template image and the window of
requires a well-textured object. They work by extracting the search area over which the template [25], [26], [29],
[27]. These shifting and computing processes operate
salient image regions from a reference image and matching
them to another image. Each single point in the reference simultaneously and do the repetition until the template
image is compared with other points belonging in a search image lies on the edge of the search area. For the image
processing purpose, the most common technique for
region in the other image. The one that gives the best
similarity measure score is considered as the corresponding measuring the similarity between two-dimensional images
one a common choice for feature extraction is the Harris is by using cross correlation method. A correlation measure
is determined between the template and respective
corner detector [16]. Features can then be matched using
normalized cross correlation (NCC) or some other windows of the search area to find the template position
similarity measure [17]. Two recent feature-matching which has maximum correlation [25], [30]. Generally, for
two-dimensional image, the correlation coefficient is
approaches are SIFT [18] and Randomized Trees [19].
Both perform equally well in terms of accuracy. However, computed for the entire area on the template image shifted
on the main image.
despite a recently proposed optimization of SIFT called
The correlation between two signals (cross correlation)
SURF [20], SIFT has a lower runtime performance than the
Randomized Trees, which exhibit a fast feature matching is a standard approach to feature detection as well as a
component of more sophisticated techniques.
thanks to an offline learning step. In comparison to
template-based methods, feature-based approaches can deal A. Template Matching by Cross Correlation.
with bigger inter frame displacements and can even be used Correlation based matching is a simple, yet very popular
for wide-baseline matching if we consider the whole image technique in pattern recognition with images. The basic
as the search region. However, wide-baseline approaches method consists of forming a correlation measure between
a template T and image I (I ⊗ T ) and determining the
are in general too slow for real-time applications. Therefore
they are mostly used for initialization rather than tracking.
A full tracking system using only features was proposed in location of a correspondence by finding the location of
[21]. They rely on registered reference images of the object maximum correlation. Usually I is much larger than the
and perform feature matching between reference image and template.
current image as well as between previous image and A common measure of dissimilarity is
current image to estimate the pose of the object. However,
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∑ (I − T ) = ∑ I − 2∑ IT + ∑ T 2 techniques are included for preprocessing purpose to get
2 2
d= (1)
the proper images such as flip image, region of interest
(ROI) and image binarization. These techniques are not the
Where the sum is over pixels in the template T and the major work for this project. Therefore, these techniques are
image I . The value of‘d’ will be small when I and T are not discussed in this paper. The correlation method is
almost identical and large when they differ significantly. implemented using the Fast Fourier transform and modified

Since the term ∑ (IT ) will have to be large whenever,’d’ into discrete correlation expression for computer usage.
Discrete Correlation is a mathematical process of

is small, large value of ∑
(IT ) similarly indicates the comparing one image with another image discretely. The
resulting image is a two- dimensional expression of
location of a good match of the template. Notice that equivalence.
∑ (IT ) is the cross correlation of the two signals I
Supposedly, the relation between template image and
search area (main image) is defined as;
and T . n n
The simple cross-correlation is called unnormalized and
it has several major shortcomings. If a certain pixel in the
∑ ∑ M (i , j )N (i , j )
i =1 j =1
CC =
image has an abnormally large value, the 1
⎡ n n ⎤2
∑ (IT ) associated with this location is likely to have a
n n

⎢∑ ∑ M
2
(i , j )∑ ∑ N (i , j )⎥
2

⎣ i = 1 j =1 i = 1 j =1 ⎦
large value even though no good match exists. And since
zeros do not contribute to the correlation value, a good (4)
match containing zeros will possible have a small value. To
overcome these problems, normalized cross-correlation M (i , j ) = cN (i , j )
(NCC) is often used instead, in which the measure is
formulated as n n

⎡~ ⎤
⎢T ( x , y ) I ( x ± u , y ± v )⎥
~ ∑∑ cN (i, j )N (i, j )
∑∑ ⎢ ⎥ CC =
i =1 j =1
1
⎣ ⎦
x y
ρ (u , v ) = ⎡n n 2 2 n n ⎤2
⎢∑∑ c N (i, j )∑∑ N (i, j )⎥
2
~ ~

∑ ∑ T (x , y ) ∑ ∑ I (x ± u , y ± v )
x y
2

x y
2
⎣ i =1 j =1 i =1 j =1 ⎦ (5)
(2)
n n
In this equation (2), I is an image of image size n x n c ∑∑ N 2 (i, j )
with a search window of a larger image and T is a i =1 j =1
~
CC =
template of image size n x n; T = t − μ T , and μ T is the
1
⎡n n 2 2 n n ⎤2
⎢∑∑ c N (i, j )∑∑ N 2 (i, j )⎥
average intensity of T .This formula keeps ρ in the range -
1 to 1,with a value close to 1 indicating a better matching. ⎣ i =1 j =1 i =1 j =1 ⎦ (6)
For equation 2 to be effective, a prior accurate
knowledge of the pattern T is required .For the detection Let CC=1, then for some constant c, the correlation
of detonators, we assume the shape of a detonator is fixed coefficient will result as a value 1, proving the 100%
and known. However, the orientation of the detonator in similarity between both images. This theory is applied
images can be changing and multiple templates with together with the discrete correlation expression in this
varying orientations have to be used. system. The equation for the two-dimensional discrete
Now let as assume that correlation is given by [5];
T (x, y ) = M (i, j ) and M −1 N −1
Out (k , l ) = ∑∑ In1(m, n)In2(k + m, l + n )
m =0 n =0
I ( x + u , y + v ) = N (i, j )
(7)
(3)
Where In1 and In 2 are the input images and Out is
the output image. MxN is the dimension of both images
With image size as mentioned above for both I and T .
and possibly they have different dimensions and sizes,
For a sample image (contains left and right breast however, it will filled in with certain pixel values to allow
images), the position, orientation and size need to be the matching process. The In1 and In 2 are called the
observed. These criteria are important in obtaining the best search area and the template image respectively. The
output for the matching process. Unfortunately, most output will reveal the resultant image and its position of the
images do not satisfy these criteria. Therefore, some
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greatest match between the search area (main image) and minimizes difficulties due to different image quality and
the template. image formation conditions.
For the initialization registered images of the object
IV. PROPOSED SYSTEM called key frames, are required. They can be created
directly from the textured model by rendering it from
An overview of the proposed system as a finite state
different views. If the real-world metric pose is required,
machine (FSM) is given in Figure 1.The system starts with the correct intrinsic camera parameters have to be
an initialization phase, and then uses the template-based provided.
tracking algorithm to track the object. If the template-based
tracker is unable to recover the pose within a certain B. Initialization
number of attempts the initialization is invoked again. When initializing, features are extracted from the current
Template-based Tracking Algorithm image and matched to the features extracted in the key
frame. The pose can then be estimated from the 3D object
We use the NCC algorithm for template-based tracking. points and corresponding 2D feature points in the current
The object is tracked using this method until a loss of track image. Since the tracker is using a textured model of the
is detected,
object the accuracy of the initial pose estimation is not very
Given: Input image I ; orientation of the object initialize an critical. If on the other hand the reference templates used
output array with the same size as the input image for tracking were extracted from the current image, the
[1] Set an initial threshold value for thresholding the precision of the initialization procedure would be a major
correlation result. Normally, it is set at 0.7-0.8 issue, because the quality of the tracking result depends
[2] Repeat the following steps until the result is directly on the quality of the templates used for tracking.
satisfactory. Hence we decided to directly use the templates taken from
Construct the correlation filter template T the textured model in our system.
using an empirical model method.
C. Reference Patch Extraction
Perform normalized cross-correlation of I
with T , and store the result in the output array. The textures of the reference patches, which are required
Threshold these correlation values. If any for tracking, are taken from the textured model or each
value is larger than the threshold, set the patch the object is rendered so that the patch is oriented
corresponding point in the output array to 1, parallel to the image plane. It is also important to ensure
otherwise to 0 that the relative sizes of the object patches are reflected in
If the result is not satisfactory, adjust the the size of the rendered patches, since the number of pixels
threshold or the correlation filter template and in a patch is directly proportional to its importance during
continue tracking. Since the pose parameters used to render the
[3] End repeat [1] & [2] patches are known, the reference patches can be directly
extracted from the rendered image. These reference patches
are then reduced a few times in size by a factor of two to
create a stack of reference patches at different scales, which
are used to speed up the tracking in a coarse-to-fine
approach.
D. Visibility Test
Attempting to track patches which are not visible will
lead to erroneous results. Hence it is necessary to ascertain
the visibility of every patch. This test is performed by
rendering the model with OpenCV and using the occlusion
query extension to test which patches are visible and which
are occluded. The visibility test is performed for each
frame using the pose estimated in the previous frame.
Thanks to the occlusion query extension the visibility test
can be performed very fast, so that it does not interfere with
the tracking performance
Figure 1. Overview of the proposed tracking system E. Loss Of Track
Determining when the tracker lost the object is important
A. Required Information in order to switch to the proposed algorithm. In our system
In our system we use a textured 3D model of the object. this is accomplished by computing the normalized cross
*
This model can either be created manually or semi- correlation (NCC) between the reference patch I k and
automatically with commercially available products. One the current patch I k after the end of the optimization for
point to note is that it is advisable to use the same camera
for texturing the model and for tracking, because this all visible patches.

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*
Let I be the reference image and I the current image. mechanism implies the motion of the camera is governed
Further ‘ p ’ be the pixel coordinates of the pixels in the by the motor installed horizontally.
reference image The NCC between two patches is defined B. Wireless Camera Interfacing
as: In order to track the object using Template Matching
(I ( p ) − μ )(I ( p ) − μ )
)= ∑
* * through NCC based approach we have implemented an
(
NCC I , I k * pk k k k k k k Wireless vision interface model for acquiring the real time
N σ σk images from remote place through JK wireless Surveillance
k 2 *
k (8) camera. For tracking the objects based on user defined
template OpenCV is used. To grab the image we have used
Where N k is the number of pixels of each patch, μ and *
k Zebronics image grabber TV tuner for acquiring the image
μk are the mean pixels intensities and σ k and
*
σk their
from wireless camera through 2.5GHz video receiver
module interfaced with PC. To interface the Image grabber
standard deviations. If the NCC of a patch falls below a and OpenCV we have used a Dynamic Link Library files
certain threshold, it is excluded from the tracking. The loss vcapg2.dll. To track the object completely an efficient
of tracking an object occurs mainly due to the presence of decision making rule is being implemented by software
either due to fast movement of the object or else due to approach i.e., if-else and then conditions based on the
tracking object is out of focus. To avoid the loss of tracking movement of the object on ‘x’-directions.
we propose a tracking system which could be able of
tracking the object in 360degree rotation. Basically in this C. Decision Making Rule for Object Tracking
paper the tracking of the object is considered only in the Our object tracker module generates the trajectory of an
‘x’-direction .In this paper we are not going to deal with the object over time by locating its position in every frame of
mechanical design of the rotational disc mechanism where the video. In our implementation the tasks of detecting the
as we would be dealing with tracking the object object and establishing correspondence between the object
continuously without any loss of the object which is under instances across frames are performed simultaneously (i.e
test. Complete control of the tracking system is done multithreaded). The possible object region in every frame
through wireless interface using RF 433 MHz RF module is obtained by means of our object detection module, and
from the remote place which would be discussed in the then our tracker module tracks the object across frames. In
following section in detail. our tracking approach the object is represented using the
Primitive Geometric Shape Appearance Model i.e., the
V. TEMPLATE MATCHING SYSTEM MODEL object is represented as a rectangle.
IMPLEMENTATION The object tracking module takes the positional
information of x & y co-ordinates of the system of the
This proposed system model consists of three major
moving object as an input from the object template module
subdivisions
based on the ROI. This information is then used to extract a
A. Hardware setup
square image template (whenever required) from the last
B. Wireless camera Interface with OpenCV
acquired frame. The module keeps on searching it in the
C. Decision Making rule for continuous tracking of
frames captured from that point. Whenever found it
object based on ROI
displays a red overlaid rectangle over the detected object. If
A. Hardware setup the template matching doesn’t yield any result (signifying
This section deals with the rotational disc arrangement that the object has changed its appearance) a new template
of the tracking system. The system utilized with single is can be selected based on the user interest on the real time
stepper motor to account for the tracking of the object in x- video sequence.
direction movement of the object. As presented in Fig. 6 Further on the (x, y) co-ordinates of the tracked object
motor is operated using an electronic stepper motor driver are calculated and passed on to the rotational disc module
circuit. We have used Wireless Transmitter and Receiver of from the PC through wireless interface for analysis and
433MHZ for transmitting and receiving the data from the automation.
remote computer and the rotational disc arrangement on D. Algorithm for the Tracking Module based on Decision
which the wireless Camera is being mounted. At the making rule:
receiving section the wireless camera would be keep on i. Get the positional information image I(x ,y) frame
tracking the object about 360 degree rotational controls is size of the object it is generally considered with
done by means of stepper motor interface along with the 320x240
microcontroller ATMEL89C52. The received data are ii. Generate a image template T with size as mentioned
processed based on the decision making rule which is being in Section III A by extracting a square image from
imposed in the microcontroller. The motor driver circuits the last frame grabbed by the camera. The template
are in turn controlled by the tracking program through the is extracted in the form of a square whose image
data received from the remote PC based on the information coordinates are given by
of the tracking object is under test. Rotational disc

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-Top, Left corner: (x - u, y - v)
-Top, Right corner: (x + u, y - v)
-Bottom, Left corner: (x - u, y + v)
-Bottom, Right corner :(x+u, y+v) Template Image-Vehicle
iii. Search the generated template T in the last frame
grabbed by the camera. This is done by using an
efficient template matching algorithm based on
NCC.
iv. IF the template matching is successful transmit the
data through RF Transmitter 433MHz through
serial Port
ELSE IF the tracker has NOT detected motion of
the object then stop automation of the wireless
camera module setup.
AND the detector has
THEN goto STEP 1 (get a new template)
ELSE goto STEP 5 (get the x, y position)
ELSE goto STEP 1 (get a new template)
v. Obtain the position T(x, y) of the match and pass
it on to the rotational disc x-direction automation
module for analysis. Figure 2. Template Matching based Vehicle Tracking Prototype with
vi. Goto Step iii. real time images of frame size 320x240

The below Table I shows the complete details how the
object would be tracked based on the information of the co-
ordinates and exactly serial data for controlling the Template Image-Face
Rotational Disc Camera Mounting setup through Wireless
RF 433MHz.

TABLE I. Automation Of Tracking Module And Its Control Word
Object Automation of the Tracking Wireless Serial Data
Tracking system Based on the Co- Transfer Based on
module ordinates of the Template Coordinates of the
Direction Matching in the Frame Object Present to the
Receiver Section
LEFT Move the camera towards ‘R’
direction of the object by
rotating the stepper motor in
Anti Clockwise Direction
RIGHT Move the camera towards ‘L’
direction of the object by
rotating the stepper motor in
Clockwise Direction
IDEAL Stop the movement of the ‘S’
actuators

VI. RESULTS
Results are presented of the experiment performed using
the tracking Finite State Machine as shown in the Figure
1.The experiment was conducted for various images
acquired from Wireless pinhole camera interfaces with
Rotational Disc Mechanism for through low cost frame
grabber Zebronic TV tuner card programmed using
OpenCV.
The template matching program written in VC++ Figure 3. Template Matching based Face Tracking
environment along with some predefined function available
in OpenCV environment. To make the system
more versatile for various environmental conditions we
tried to implement a concept of software approach based
threshold adjustments which would be helpful for better
template matching based tracking.

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When the sequences of images is within the region then the
tracking is smoother where else when the object being
tracked is out of focus then the camera should be atomized
Template Matching-Survelliance Camera through stepper motor so that the object being tracked
would not be missed out which is being discussed in the
above section TABLE I. In the result we have consider
three objects Vehicle prototype, Human Face, Surveillance
camera movement with reference template match compared
with actual images tracked output frames are shown in the
Figure 2,3&4,5 respectively

CONCLUSIONS
In this paper we have implemented the template
matching based on NCC algorithm with real time tracking
under non-ideal environment irrespective of the lighting
conditions. The system has been automated using rotation
disc camera mount mechanism setup which is synchronized
with the algorithm. Such an automated object tracking
system can be used in applications Defense application
such as Automatic target tracking, Autonomous target
hitting through turret by classifying the templates whether
it is enemy objects or not. Future focuses on tracking
multiple objects at the same time as well as on improving
tracker accuracy during camera motion. Even stereo vision
based tracking system can be carried out for maximum
coverage of the objects and also to track multiple objects
too.

ACKNOWLEDGMENT
Figure 4. Template Matching based Surveillance Camera Tracking The authors gratefully acknowledge the following
with real time images of frame size 320x240 to move the stepper motor
actuator towards Left side- Clockwise Direction
individuals for their valuable support: Prof.V.Bhaskaran,
Department of Mathematics and our colleagues for their
valuable guidance for devoting their precious time, sharing
their knowledge and co-operation.

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conferences.

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© 2011 ACEEE
DOI: 01.IJNS.02.01.105

Wireless Vision based Real time Object Tracking System Using Template Matching

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