Quantitative evaluation methods of robust detecting and tracking with color camera under illumination changes

The detecting and tracking a specific person by using the image processing with the color camera is often influenced by illumination changes. The proposed robust detecting and tracking method to illumination changes is using the HSV color space and updating the histogram. However, the quantitative evaluating is not enough in the proposed method. In this paper, the robustness to illumination changes of the proposed method is evaluated quantitatively. Moreover, the accuracy of the tracking in the proposed method is also evaluated quantitatively. The extraction rate, the object detecting rate, and the tracking error are defined to evaluate quantitatively. The tracking error is also calculated by the MeanShift method based on the color information. The quantitatively experimental results show that the proposed method is the stable and robust tracking method.