In this paper, we propose a method for quantitatively analyzing the performance of tracking algorithms for generic objects (objects about which the system has no prior knowledge). The sensitivity of algorithms are measured as a function of changes in scale, rotation, clipping, and brightness. We then compare our quantitative measures with a subjective evaluation of the algorithm's performance on real-world images. We use a simple color-based matched filtering algorithm to illustrate the method.
Jill D. Crisman,
"Generic target tracking using color", Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993); doi: 10.1117/12.150228; https://doi.org/10.1117/12.150228