Attentive Visual Tracking and Trajectory Estimation for Dynamic Scene Segmentation

FACULTY OF ENGINEERING AND APPLIED SCIENCE ELECTRONICS AND COMPUTER SCIENCE Doctor of Philosophy ATTENTIVE VISUAL TRACKING AND TRAJECTORY ESTIMATION FOR DYNAMIC SCENE SEGMENTATION by Jonathan Michael Roberts Intelligent Co-Pilot Systems (ICPS) offer the next challenge to vehicle-highway automation. The key to ICPSs is the detection of moving objects (other vehicles) from the moving observer using a visual sensor. The aim of the work presented in this thesis was to design and implement a feature detection and tracking strategy that is capable of tracking image features independently, in parallel, and in real-time and to cluster/segment features utilising the inherent temporal information contained within feature trajectories. Most images contain areas that are of little or no interest to vision tasks. An attentive, data-driven, approach to feature detection and tracking is proposed which aims to increase the efficiency of feature detection and tracking by focusing attention onto relevan..