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1、562IEEETRANSACTIONSONAUTOMATICCONTROL,VOL.51,NO.4,APRIL2006DynamicActiveContoursforVisualTrackingMarcNiethammer,AllenTannenbaum,andSigurdAngenentAbstract—Visualtrackingusingactivecontoursisusuallysetinorourenvironment(e.g.,controllingthemovementofaplane,ast
2、aticframework.Theactivecontourtrackstheobjectofinterestbasedonvisualinput).Thelatterwillmostlikelyencompasstheinagivenframeofanimagesequence.Asubsequentpredictionfirst(possiblyresultinginnestedcontrolloops).Bothtaskscanstepensuresgoodinitialplacementforthene
3、xtframe.Thisap-beaccomplishedbymeansoffeedbackmechanisms.Ineitherproachisunnatural;thecurveevolutiongetsdecoupledfromtheactualdynamicsoftheobjectstobetracked.Truedynamicalap-caseweneedagoodestimateofobjectposition.Oncewehaveproachesexist,allbeingmarkerparti
4、clebasedandthuspronetothisestimation,weeitherhavefulfilledourtask(e.g.,forsurveil-theshortcomingsofsuchparticle-basedimplementations.Inpar-lanceapplications),orusethisinformationtocloseacontrolticular,topologicalchangesarenothandlednaturallyinthisframe-loop.
5、Thisbringstomindabroadrangeofapplications.Indeed,work.Thenowclassicallevelsetapproachistailoredforevolutionsbeitformedicalormilitaryuse,theneedforvisualtrackingisofmanifoldsofcodimensionone.However,dynamiccurveevolu-tionisatleastacodimensiontwoproblem.Wepro
6、poseaneffi-ubiquitous.cient,levelsetbasedapproachfordynamiccurveevolution,whichVisualfeedbackcontroldifferssignificantlyfromclassicaladdressestheartificialseparationofsegmentationandpredictioncontrol.Sensorsareimagingdevices(usuallycameras)whichwhileretaininga
7、llthedesirablepropertiesofthelevelsetformu-deliveranabundanceofinformationofwhichonlyafractionlation.Itisbasedonanewenergyminimizationfunctionalwhich,forthefirsttime,putsdynamicsintothegeodesicactivecontourmaybeneededforaspecificcontroltask.Thesensoroutputfra
8、mework.needstobepreprocessedtoextracttherelevantinformationforthetrackingproblem,e.g.,thepositionofanobjecttobefol-IndexTerms—Dynamicactivecontours,geodesicactivecon-tours,levelsetmethods,visualtrackin
