Real-time RGB-D Tracking with Depth Scaling Kernelised Correlation Filters and Occlusion Handling

We present a real-time RGB-D object tracker which manages occlusions and scale changes in a wide variety of scenarios. Its accuracy matches, and in many cases outperforms, state-of-the-art algorithms for precision and it far exceeds most in speed. We build our algorithm on the existing colour-only KCF tracker which uses the ‘kernel trick’ to extend correlation filters for fast tracking. We fuse colour and depth cues as the tracker’s features and exploit the depth data to both adjust a given target’s scale and to detect and manage occlusions in such a way as to maintain real-time performance, exceeding on average 35fps when benchmarked on two publicly available datasets. We make our easy-to-extend modularised code available to other researchers.