Abstract—Support Vector Tracking (SVT) integrates the Support Vector Machine (SVM) classifier into an optic-flow-based tracker. Instead of minimizing an intensity difference function between successive frames, SVT maximizes the SVM classification score. To account for large motions between successive frames, we build pyramids from the support vectors and use a coarse-to-fine approach in the classification stage. We show results of using SVT for vehicle tracking in image sequences. Index Terms—Support vector machines, optic-flow, visual tracking. 1

In this paper we describe a trainable object detector and its instantiations for detecting faces and cars at any size, location, and pose. To cope with variation in object orientation, the detector uses multiple classifiers, each spanning a different range of orientation. Each of these classifiers determines whether the object is present at a specified size within a fixed-size image window. To find the object at any location and size, these classifiers scan the image exhaustively. Each classifier is based on the statistics of localized parts. Each part is a transform from a subset of wavelet coefficients to a discrete set of values. Such parts are designed to capture various combinations of locality in space, frequency, and orientation. In building each classifier, we gathered the class-conditional statistics of these part values from representative samples of object and non-object images. We trained each classifier to minimize classification error on the training set by using Adaboost with Confidence-Weighted Predictions (Shapire and Singer, 1999). In detection, each classifier computes the part values within the image window and looks up their associated classconditional probabilities. The classifier then makes a decision by applying a likelihood ratio test. For efficiency, the classifier evaluates this likelihood ratio in stages. At each stage, the classifier compares the partial likelihood ratio to a threshold and makes a decision about whether to cease evaluation—labeling the input as non-object—or to continue further evaluation. The detector orders these stages of evaluation from a low-resolution to a high-resolution search of the image. Our trainable object detector achieves reliable and efficient detection of human faces and passenger cars with out-of-plane rotation.

This paper addresses the problem of applying powerful pattern recognition algorithms based on kernels to efficient visual tracking. Recently Avidan [1] has shown that object recognizers using kernel-SVMs can be elegantly adapted to localization by means of spatial perturbation of the SVM, using optic flow. Whereas Avidan's SVM applies to each frame of a video independently of other frames, the benefits of temporal fusion of data are well known. This issue is addressed here by using a fully probabilistic `Relevance Vector Machine' (RVM) to generate observations with Gaussian distributions that can be fused over time. To improve performance further, rather than adapting a recognizer, we build a localizer directly using the regression form of the RVM. A classification SVM is used in tandem, for object verification, and this provides the capability of automatic initialization and recovery. The approach

Face detection is a canonical example of a rare event detection problem, in which target patterns occur with much lower frequency than non-targets. Out of millions of face-sized windows in an input image, for example, only a few will typically contain a face. Viola and Jones recently proposed a cascade architecture for face detection which successfully addresses the rare event nature of the task. A central part of their method is a feature selection algorithm based on AdaBoost. We present a novel cascade learning algorithm based on forward feature selection which is two orders of magnitude faster than the Viola-Jones approach and yields classifiers of similar quality. This faster method could be used for more demanding classification tasks, such as on-line learning or searching the space of classifier structures. Our experimental results highlight the dominant role of the feature set in the success of the cascade approach. 1

This paper extends the use of statistical learning algorithms for object localization. It has been shown that object recognizers using kernel-SVMs can be elegantly adapted to localization by means of spatial perturbation of the SVM. While this SVM applies to each frame of a video independently of other frames, the benefits of temporal fusion of data are well-known. This is addressed here by using a fully probabilistic Relevance Vector Machine (RVM) to generate observations with Gaussian distributions that can be fused over time. Rather than

This paper presents an analysis of the design of classifiers for use in a hierarchical object recognition approach. In this approach, a cascade of classifiers is arranged in a tree in order to recognize multiple object classes. We are interested in the problem of recognizing multiple patterns as it is closely related to the problem of locating an articulated object. Each different pattern class corresponds to the hand in a different pose, or set of poses. For this problem obtaining labelled training data of the hand in a given pose can be problematic. Given a parametric 3D model, generating training data in the form of example images is cheap, and we demonstate that it can be used to design classifiers almost as good as those trained using non-synthetic data. We compare a variety of different template-based classifiers and discuss their merits.

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The detection of faces in images is fundamentally a rare event detection problem. Cascade classifiers provide an efficient computational solution, by leveraging the asymmetry in the distribution of faces vs. non-faces. Training a cascade classifier in turn requires a solution for the following subproblems: Design a classifier for each node in the cascade with very high detection rate but only moderate false positive rate. While there are a few strategies in the literature for indirectly addressing this asymmetric node learning goal, none of them are based on a satisfactory theoretical framework. We present a mathematical characterization of the node-learning problem and describe an effective closed form approximation to the optimal solution, which we call the Linear Asymmetric Classifier (LAC). We first use AdaBoost or AsymBoost to select features, and use LAC to learn a linear discriminant function to achieve the node learning goal. Experimental results on face detection show that LAC can improve the detection performance in comparison to standard methods. We also show that Fisher Discriminant Analysis on the features selected by AdaBoost yields better performance than AdaBoost itself. 1.

This paper proposes a method for computing fast approximations to support vector decision functions in the field of object detection. In the present approach we are building on an existing algorithm where the set of support vectors is replaced by a smaller, so-called reduced set of synthesized input space points. In contrast to the existing method that finds the reduced set via unconstrained optimization, we impose a structural constraint on the synthetic points such that the resulting approximations can be evaluated via separable filters. For applications that require scanning large images, this decreases the computational complexity by a significant amount. Experimental results show that in face detection, rank deficient approximations are 4 to 6 times faster than unconstrained reduced set systems. 1

Abstract. We describe a new framework, based on boosting algorithms and cascade structures, to efficiently detect objects/faces with occlusions. While our approach is motivated by the work of Viola and Jones, several techniques have been developed for establishing a more general system, including (i) a robust boosting scheme, to select useful weak learners and to avoid overfitting; (ii) reinforcement training, to reduce false-positive rates via a more effective training procedure for boosted cascades; and (iii) cascading with evidence, to extend the system to handle occlusions, without compromising in detection speed. Experimental results on detecting faces under various situations are provided to demonstrate the performances of the proposed method. 1