Convex hull for visual tracking with EMD

Developing an effective target appearance model is a challenging task due to the influence of factors such as partial occlusion, illumination variations, fast motion, etc. Existing appearance models usually utilize the tracking results from previous frames as target templates upon which the target appearance model is built by linear combinations of the templates. With such kind of representation, visual tracking is not robust when drastic appearance variations occur. We propose a simple but effective tracking algorithm with a novel appearance model in a particle filter framework. A target candidate is represented by the convex combination of a set of target templates. Additionally, the distance between a target candidate and the templates is measured using the EMD. Experimental results on challenging video sequences against state-of-the-art algorithms demonstrate the robustness and effectiveness of the proposed tracking algorithm.