Detecting and Tracking Moving Objects in Sequences of Color Images

A statistical change detector, implemented as a zero-latency finite-memory filter, is used to identify anomalies in temporal pixel statistics. An F-distributed test statistic is computed for each pixel and used in a hypothesis test. The tracker, with automatic track initiation and termination, uses a low-complexity pairwise joint probabilistic data association (JPDA) algorithm, which has been restricted to consider clusters (sub-problems) containing no more than two tracks. The track state and clutter model are augmented to include color. The detector and tracker are used to process sample video data.