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6 CONCLUSION
In this paper we present three adaptive tracking algo-
rithms. The trackers are: (1) MSFNCA + Centroid,
(2) MSFNCA + Centroid + Edges, and (3) Correla-
tion with gradual update. Trackers adapt to different
conditions by means of performance metrics, which
indicates the best correlation, reducing the possibility
that drift problem occurs.
Moreover, these algorithms have the capability to
follow a target trajectory even under occlusions using
UKF and IMM filters and using a constant accelera-
tion and constant velocity motion models. We ob-
tain the coherence path for each sequence assessing
its complexity before apply the tracking algorithms.
The tracking performance was measured on real and
synthetic sequences. We used metrics that compare
the truth trajectory and the trajectory tracked. Further-
more, we evaluate the algorithms by calculating both
false alarms and correct detections. Correlation with
gradual update improves the tracking and increase the
adaptability to changing environments. The UKF fil-
ter had a slightly best behavior than IMM estimator
even when an occlusion problem occurs.
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