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Trackers make errors, for example, due to inaccuracies in detection, or motion that is not modeled correctly. Instead of improving this tracking using the limited information available from a single measurement, we propose a method where tracks are merged at a later stage, using information over a small interval. This merging is based on spatiotemporal matching. To limit incorrect connections, unlikely connections are identified and excluded. For this we propose two different approaches: spatiotemporal cost functions are used to exclude connections with unlikely motion and appearance cost functions are used to exclude connecting tracks of dissimilar objects. Next to this, spatiotemporal cost functions are also used to select tracks for merging. For the appearance filtering we investigated different descriptive features and developed a method for indicating similarity between tracks. This method handles variations in features due to noisy detections and changes in appearance.
We tested this method on real data with nine different targets. It is shown that track merging results in a significant reduction in number of tracks per ship. With our method we significantly reduce incorrect track merges that would occur using naïve merging functions.
In this paper we show results of this processing chain for sea scenarios using our TNO turbulence mitigation method. Ship data is processed using the algorithm proposed above and the results are analyzed by both human observation and by image analysis. The improvement of the imagery is qualitatively shown by examining details which cannot be seen without processing and can be seen with processing. Quantitatively, the improvement is related to the energy per spatial frequency in the original and processed images and the signal to noise improvement. This provides a model for the improvement of the results, and is related to the improvement of the classification and identification range. The results show that with this novel approach the classification and identification range of ships is improved.
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