Algorithm A1. Task Trajectory synthesis procedure denoted tracking_task

Input: iFrame = Current frame of the specific view; camera_nmb = current camera     indicative; start_Frame = initial frame number of the processed sequence;

Output: Tracking rectangles coordinates / frame file

01.   movement attributes initializations;

02.   compute the gray level average of the current frame;

03.   if view gray_level_average[i] is too low or too high

04.   return (-1, -1);

05.   if current view is low resolution then low_resolution = 1;

06.   localize movement cluster (procedure Section 2 completed with a ‚ray casting’ selection and         eventually with a searching area around previous position if the panda was in a full visible   zone);

07.   if not_first_time_localization == 0

08.    if the number of movement features is less than high_features_nmb_thr then

09.      if zoo_technician = 1 and the movement cluster is localized in the area of the gate       where panda was fostered during technician session then

10.       not_first_time_localization = 1; valid_movement = 1; zoo_technician = 0;

else

11.       if the movement is in the gates area or around previous valid position then

12.        not_first_time_localization = 1; valid_movement = 1;

else

13.        valid_movement = 0; end if (lines 11, 09)

else

14.      if zoo_technician = 0

15.      if the current frame is the first movement frame of the sequence and the movement         is strong and around zoo technician gate then

16.        zoo_technician = 1; not_first_time_localization = 1; valid_movement = 1;

else

17.        if the movement is in the gates area or around previous      valid position then

18.         not_first_time_localization = 1; valid_movement = 1;

else

19.         valid_movement = 0; end if (lines 17, 15)

else

20.       if the movement is around the area of the gate where panda was fostered during         technician session and also the last movement was detected in the area of the         technician gate then

21.        zoo_technician = 0; not_first_time_localization = 1; valid_movement = 1;

else

22.       not_first_time_localization = 1; valid_movement = 1; end ifs (lines 20, 14, 08)

else

23.    if the number of movement features is less than low_features_nmb_thr then

24.      maintain_gate_search = 0;

25.     goto line 63; // no or weak movement analysis; end if (line 23)

27.     if the number of movement features is less than features_nmb_thr and       (iFrame-last_information_frame > frame_gap_thr or maintain_gate_search == 1) then

28.      if features are not located in the gate areas of the scene then

29.       maintain_gate_search = 0; goto line 63; // no or weak movement analysis;

30.      else

31.       maintain_gate_search = 1; valid_movement = 1; end if (line 28)

32.     else

33.      maintain_gate_search = 0; valid_movement = 1; end ifs (line 27, 07)

34.   if valid_movement == 1 then

35.     if one of the following conditions is true

1. suddenly bursting configuration with more than half of the movement features far       away from the current movement;

2. current movement cluster is far away from the position in full view areas where       panda was previously sleeping;

3. current movement cluster is not in the area of zoo technician gate and the last exit       was of the technician (zoo_technician == 1)

36.    then valid_movement = 0;

37.    if   iFrame-last_information_frame > frame_gap_thr then

38.     not_first_time_localization = 0; end ifs (lines 37, 35, 34)

39.  if valid_movement == 0 then

40.    if zoo_technician == 1

41.     return (-1, -1); end if (line 40)

42.    ${\mathit{x}}_{\mathit{i}\mathit{F}\mathit{r}\mathit{a}\mathit{m}\mathit{e}}={\mathit{x}}_{\mathit{l}\mathit{a}\mathit{s}\mathit{t}\_\mathit{i}\mathit{n}\mathit{f}\mathit{o}\mathit{r}\mathit{m}\mathit{a}\mathit{t}\mathit{i}\mathit{o}\mathit{n}\_\mathit{f}\mathit{r}\mathit{a}\mathit{m}\mathit{e}}; {\mathit{y}}_{\mathit{i}\mathit{F}\mathit{r}\mathit{a}\mathit{m}\mathit{e}}={\mathit{y}}_{\mathit{l}\mathit{a}\mathit{s}\mathit{t}\_\mathit{i}\mathit{n}\mathit{f}\mathit{o}\mathit{r}\mathit{m}\mathit{a}\mathit{t}\mathit{i}\mathit{o}\mathit{n}\_\mathit{f}\mathit{r}\mathit{a}\mathit{m}\mathit{e}}$

43.    scroll down the all processed information/frame;

44.    $\mathbf{return} ({\mathit{x}}_{\mathit{i}\mathit{F}\mathit{r}\mathit{a}\mathit{m}\mathit{e}},{\mathit{y}}_{\mathit{i}\mathit{F}\mathit{r}\mathit{a}\mathit{m}\mathit{e}})$; end if (line 39)

45.  if panda_sleeping == 0 and the last five movement rectangles are included one in the preceding one and movement features are decreasing then

46.    if the number of the movement features is less than a threshold then

47.     panda_sleeping = 1; end if (line 46, 45)

48.  if panda_sleeping == 1

49.    if the current movement rectangle is not included in the previous one but not far away       from this one then

50.     panda_sleeping = 0;

51.     scroll down the all processed information/frame; last_information_frame = iFrame;

52.    else

53.     set the current movement rectangle to the previous one and perform a search for      movement features.

54.     if the number of movement features is greater than low_features_nmb_thr then

55.      panda_sleeping = 0;

56.      scroll down the all processed information/frame; last_information_frame=       iFrame;

57.     else

58.      valid_movement = 0; end if (lines 54, 49, 48)

59.  if zoo_technician == 1

60.    return (-1, -1);

61.  else

62.       $\mathbf{return} ({\mathit{x}}_{\mathit{i}\mathit{F}\mathit{r}\mathit{a}\mathit{m}\mathit{e}},{\mathit{y}}_{\mathit{i}\mathit{F}\mathit{r}\mathit{a}\mathit{m}\mathit{e}})$; end if (line 59)

63.  if iFrame-last_information_frame > frame_gap_thr and panda_sleeping == 0 and    zoo_technician == 0 then

64.    not_first_time_localization = 0;//initialize the tracking procedure

65.    if zoo_technician == 1 and the previous computed target coordinates were in the       technician   gate area then

66.     zoo_technician =0; end if (line 65)

67.    if panda_sleeping == 1 then

68.     if the last chosen position by the fusion process is of a different view than the current        one and there is no match with the current view position then

69.      panda_sleeping = 0;

70.     else

71.      if there is weak movement check for small displacements

72.       if small displacements then

73.        update new position; panda_sleeping = 0; last_information_frame = iFrame;

74.        $\mathbf{return} ({\mathit{x}}_{\mathit{i}\mathit{F}\mathit{r}\mathit{a}\mathit{m}\mathit{e}},{\mathit{y}}_{\mathit{i}\mathit{F}\mathit{r}\mathit{a}\mathit{m}\mathit{e}})$

75.     end ifs (lines 72, 71, 68)

76.    else

//check for sleep condition

77.     if iFrame-last_information_frame == 1 and panda_sleeping == 0 then

78.      if the computed pose in current view is in a suitable area for freezing then

79.       if the last chosen position by the fusion process is of a different view than the         current one and there is a match with the current view position then

80.        if in the previous five frame there were not significant movements, related to           low_resolution parameter, or panda in the last frame was detected in a full view          area (for instance on a high platform) then

81.         panda_sleeping = 1; end ifs (lines 80, 79, 78, 77, 67)

82.    if panda_sleeping == 1

83.     if zoo_technician == 1

84.      ${\mathit{x}}_{\mathit{i}\mathit{F}\mathit{r}\mathit{a}\mathit{m}\mathit{e}}=-1 {\mathit{y}}_{\mathit{i}\mathit{F}\mathit{r}\mathit{a}\mathit{m}\mathit{e}}=-1$;

85.       else

86.      ${\mathit{x}}_{\mathit{i}\mathit{F}\mathit{r}\mathit{a}\mathit{m}\mathit{e}}={\mathit{x}}_{\mathit{l}\mathit{a}\mathit{s}\mathit{t}\_\mathit{i}\mathit{n}\mathit{f}\mathit{o}\mathit{r}\mathit{m}\mathit{a}\mathit{t}\mathit{i}\mathit{o}\mathit{n}\_\mathit{f}\mathit{r}\mathit{a}\mathit{m}\mathit{e}}; {\mathit{y}}_{\mathit{i}\mathit{F}\mathit{r}\mathit{a}\mathit{m}\mathit{e}}={\mathit{y}}_{\mathit{l}\mathit{a}\mathit{s}\mathit{t}\_\mathit{i}\mathit{n}\mathit{f}\mathit{o}\mathit{r}\mathit{m}\mathit{a}\mathit{t}\mathit{i}\mathit{o}\mathit{n}\_\mathit{f}\mathit{r}\mathit{a}\mathit{m}\mathit{e}}$; end if

87.     scroll down the all processed information/frame;

88.     $\mathbf{return} ({\mathit{x}}_{\mathit{i}\mathit{F}\mathit{r}\mathit{a}\mathit{m}\mathit{e}},{\mathit{y}}_{\mathit{i}\mathit{F}\mathit{r}\mathit{a}\mathit{m}\mathit{e}}$

89.   else

90.     ${\mathit{x}}_{\mathit{i}\mathit{F}\mathit{r}\mathit{a}\mathit{m}\mathit{e}}=-2 {\mathit{y}}_{\mathit{i}\mathit{F}\mathit{r}\mathit{a}\mathit{m}\mathit{e}}=-2$;

91.    scroll down the all processed information/frame;

92.   $\mathbf{return} ({\mathit{x}}_{\mathit{i}\mathit{F}\mathit{r}\mathit{a}\mathit{m}\mathit{e}},{\mathit{y}}_{\mathit{i}\mathit{F}\mathit{r}\mathit{a}\mathit{m}\mathit{e}})$; end if (line 82, 63)