Skip to main content
. 2016 Sep 7;16(9):1443. doi: 10.3390/s16091443
Algorithm 1. The KCF tracker with target scale estimation
  • Inputs: 

    Template x, target position x0 initialized by the given ground truth in the first frame;

    Initial scale s = 1;

    Corresponding image sequence for tracking;

  • Outputs: 

    Estimated target position x0′ and estimated target scale s′ for each frame;

    Updated x′ and model coefficient α′ at each time;

  • 1:

    Selection: Select kernel function and features type;

  • 2:

    Initialize the model coefficient α with Equation (5);

  • 3:

    for every coming frame do

  • 4:

    Get the candidate image patch by {x, s} and resize the patch to the same size as x via bilinear interpolation;

  • 5:

    Calculate the kernel function Kxx′ with Equation (6) or (7) according to the selected kernel;

  • 6:

    Calculate the response f(z) with Equation (8);

  • 7:

    Acquire the position of the maximum response x0′ and new size s′ with Equations (10) and (11);

  • 8:

    Update the template by Equations (5) and (9);

  • 9:

    end for

  • 10:

    Return {x′, α′, s′}.