Template tracking using color invariant pixel features

In our method for tracking objects, appearance features are smoothed by robust and adaptive Kalman filters, one to each pixel, making the method robust against occlusions. While existing methods use only intensity to model the object appearance, we concentrate on multivalue features. Specifically, one option is to use photometric invariant color features, making the method robust to illumination effects such as shadow and object geometry. The method is able to track objects in real time.