A REAL WORLD SYSTEM FOR DETECTION

AND TRACKING
I.SREENIVASA RAO,
Dept. of ECE
GI T, GI TAM UNI VERSI TY
Vi sakhapatnam, I ndi a

P.H.S.T.MURTHY,
Dept. Of EI E
GI T, GI TAM UNI VERSI TY
Vi sakhapatnam, I ndi a

SUBHABRATA NANDY,
Proj ect Department,
MATRI X Securi ty Survei l l ance Ltd.
Hyderabad, I ndi a

Dr. V.MALLESWARA RAO
Dept. of ECE
GI T, GI TAM UNI VERSI TY
Vi sakhapatnam, I ndi a

Abstract As Background subtraction is a common
computer vision task; we analyze the usual pixel-level
approach. We develop an efficient adaptive algorithm
system based on pixel comparison. Recursive
comparison of pixel is used between the present frame
and the reference frame. Thisalgorithm isimplemented
using image processing in MatLAB Environment and
we work on making it a real-time applicable tool for
various possible applications. Thus an attempt to build
a video system for real-time detection and tracking of
motion which has the ability to minimize both false
detections and missed detections, interfaced with a
hardware unit based on microcontroller,
communicating serially with the computer system as a
control unit panel prototype. I t iscapable of processing
320240 video at 28fps, excluding post processing.

Keywords segmentation, foreground,
background, extraction, detection.

I . I NTRODUCTION
Human quest for an automati c detecti on system of
everyday occurrence l ead to the necessi ty of
i nventi ng an i ntel l i gent survei l l ance system whi ch
wi l l make l i ves easi er as wel l as enabl e us to compete
wi th tomorrows technol ogy and on the other hand i t
pushes us to anal yze the chal l enge of the automated
vi deo survei l l ance scenari os harder i n vi ew of the
advanced arti f i ci al i ntel l i gence.. Nowadays, i t i s seen
that survei l l ance cameras are al ready preval ent i n
commerci al establ i shments, wi th camera output bei ng
recorded to tapes that are ei ther rewri tten peri odi cal l y
or stored i n vi deo archi ves. To extract the maxi mum
benef i t from thi s recorded di gi tal data, detect any
movi ng obj ect from the scene i s needed wi thout
engagi ng any human eye to moni tor thi ngs al l the
ti me. Real -ti me segmentati on of movi ng regi ons i n
i mage sequences i s a fundamental step i n many


vi si on systems. A typi cal method i s background
subtracti on. Many background model s have been
i ntroduced to deal wi th di f ferent probl ems. There are
many approaches to handl e these back-ground
changes. I n our proj ect we have i ntroduced the usual
pi xel l evel approach, i n whi ch we compare the

correspondi ng pi xel val ues of the foreground wi th
reference to standard background. So, whenever we


f i nd a change i n the pi xel val ues beyond a threshol d
l evel we consi der i t as a change whi ch becomes the
part of our extracted i mage.
I mage background and foreground are
needed to be separated, processed and anal yzed. The
data found from i t i s then used further to detect
moti on. I n thi s proj ect work robust routi nes for
accuratel y detecti ng and tracki ng movi ng obj ects
have been devel oped and anal yzed.
Whi l e tracki ng i s one secti on of thi s proj ect we
al so detect any parti cul ar moti on regardi ng an obj ect
i n the gi ven vi deo and use a hardware uni t whi ch i s a
prototype of control uni t panel to i nti mate the moti on
of an obj ect whi ch i s detected.
I I . MOTI ON DETECTION
Moti on detecti on i n consequent i mages i s nothi ng
but the detecti on of the movi ng obj ect i n the Scene. I n
vi deo survei l l ance, moti on detecti on ref ers to the
capabi l i ty of the survei l l ance system to detect moti on
and capture the events. Moti on detecti on i s usual l y a
sof tware-based moni tori ng al gori thm whi ch wi l l
si gnal the survei l l ance camera to begi n capturi ng the
event when i t detects moti ons. Thi s i s al so cal l ed
acti vi ty detecti on. An advanced moti on detecti on
survei l l ance system can anal yze the type of moti on to
see i f i t warrants an al arm a camera fi xed to i ts base
has been pl aced and i s set as an observer at the
2009 International ConIerence on Advances in Recent Technologies in Communication and Computing
978-0-7695-3845-7/09 $25.00 2009 IEEE
DOI 10.1109/ARTCom.2009.162
939
2009 International ConIerence on Advances in Recent Technologies in Communication and Computing
978-0-7695-3845-7/09 $26.00 2009 IEEE
DOI 10.1109/ARTCom.2009.162
939
2009 International ConIerence on Advances in Recent Technologies in Communication and Computing
978-0-7695-3845-7/09 $26.00 2009 IEEE
DOI 10.1109/ARTCom.2009.162
939
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outdoor f or survei l l ance. Any smal l movement wi th a
l evel of tol erance i t pi cks i s detected as moti on.
A. Methodology
Rel i abl e tracki ng of movi ng humans i s essenti al to
moti on esti mati on, vi deo survei l l ance and human-
computer i nterf ace. Thi s proj ect presents a new
approach to human moti on tracki ng that combi nes
vi ew-based and model -based techni ques. Monocul ar
vi deo i s processed at both pi xel l evel and obj ect l evel .
At the pi xel l evel we compare each pi xel val ue and
bui l t up a new obj ect that i s termed as the foreground
when the new i mage i s compared wi th the standard
background i mage.
The f i el d of computer vi si on concerned wi th
probl ems that i nvol ve i nterf aci ng computers wi th
thei r surroundi ng envi ronment through vi sual
means. One such probl em, obj ect recogni ti on,
i nvol ves the presence of a known obj ect i n an
i mage, gi ven some knowl edge about what that
obj ect shoul d l i ke. As humans, we take thi s abi l i ty
for granted, as our brai ns are extraordi nari l y
profi ci ent at both l earni ng new obj ects and
recogni zi ng them l ater. However, i n computer
vi si on, thi s same probl em has proven to be
one of the most di f f i cul t and computati onal l y
i ntensi ve of the f i el d. Gi ven the current state of
the art, a successful for obj ect recogni ti on
requi res one to defi ne the probl em wi th a more
speci fi c focus.
I n thi s proj ect, we consi der a sub-probl em of obj ect
recogni ti on: human moti on detecti on, i n whi ch we
are i nterested i n recogni zi ng humans based sol el y on
the characteri sti c patterns of moti on that they exhi bi t.
Thi s approach di ff ers f rom other techni ques for
human detecti on, such as those that recogni ze
humans based on shape, col or, texture, or surface
features. Thi s proj ect attempts to presents a f ul l y
real i zed system f or human moti on detecti on that can
be depl oyed i n the f i el d. I ts characteri sti cs i ncl ude
real -ti me performance, i nsensi ti vi ty to background
cl utter and movement, and a modul ar desi gn that can
be general i zed to other types of moti on.


Video capturing system:

Thi s secti on or modul e basi cal l y consi sts of a camera,
whi ch captures a frame as the reference pi cture or the
desi red background condi ti on whi ch thus f orms the
reference for any ki nd of moti on tracki ng or
f oreground extracti on. Af ter capturi ng a snapshot of
the standard background the camera i s programmed to
capture a vi deo of user def i ned number of frames. The
captured vi deo i s to be processed f or detecti ng any
moti on wi th the reference frame snapshot as the
ref erence condi ti on parenthesi s (l i ke thi s). (A
parentheti cal sentence i s punctuated wi thi n the
parentheses.)
FOREGROUD EXTRACTI ON ALGORI THM
Here we reconstruct the f oreground obj ect
removi ng the background el ements. For doi ng thi s
we f i rst need to bui l d up a constructi ve background
i mage whi ch can be a perfect reference i mage for the
processi ng of i mage segmentati on.We f i rst need to
perf orm some condi ti oni ng process on these i mages
that i s the conti nuous frames of a vedi o
The detai l ed al gori thm of background model
constructi on and f oreground obj ect detecti on i s
summari zed as fol l ows.
1. When a new pi xel i n the new i mage i s
observed the probabi l i ty that the same pi xel
val ue i s present i n the background i mage i s
taken i nto account.

2. I f the pi xel val ue i s greater than the
threshol d, i .e. i f the pi xel val ue i s greater
than the tol erance range when compared to
the same posi ti on pi xel val ue of the
background i mage then the pi xel i s recorded
marki ng i t as a part of the foreground i mage.
Thi s i s done as a background i mage pi xel i s
expected to repeat i ts val ue for a l ong ti me.
Atl east i t i s expected to be wi th i n a
tol erance range. A very constructi ve change
marks the pi xel as a part of the f oreground
obj ect that i s need to be tracked and
segmented out.

3. The observed pi xel i f l i es wi thi n the
tol erance then i t i s consi dered as a part of
the background and i s repl aced wi th a zero.
At the same ti me i f any si gni f i cant change i n
the pi xel val ue i s observed the pi xel
parti cul ar val ue i s retai ned as i t i s assumed
to be the part of the foreground obj ect.

Thi s probabi l i ty al gori thm al l ows us to reconstruct an
i mage whi ch retai ns the pi xel val ues of the pi xel s
Video Source Input Video
Foreground
Extraction
Motion
Detection
ALARM OR
ALERT SYSTEM
( HARDWARE )



Serial Port Comm.
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whi ch i s the part of the f oreground obj ect and
removi ng the pi xel s whi ch i s a part of the background
i mage and i s not requi red. Thi s i s the process that
takes pl ace wi th i n the f oreground extracti on modul e
of thi s proj ect.
MOTI ON DETECTI ON ALGORITHM
Once we have acqui red the vi deo f rom an i mage
acqui si ti on devi ce i nterf aced wi th the system,
control l ed by MatLAB codi ng we go for foreground
extracti on whi ch provi des the segmented vi deo of the
movi ng obj ect i n the foreground i mage. Done wi th al l
thi s next task i s the process of i denti f yi ng any ki nd of
moti on automati cal l y wi th respect to the standard
i mage or the stagnated secti on of the vi deo. Thi s
modul e thus deal s wi th the detecti on moti on by
i mpl ementi ng the al gori thm f or moti on detecti on.

1. We consi der the standard background i mage
or the f i rst f rame of the vi deo as the
ref erence i mage for compari ng the other
frames of the vi deo i n order to detect any
ki nd of moti on that i s there i n terms of any
obj ect i s concerned.
2. Here we go f or ref erence or background to
foreground subtracti on to i denti f y any
suf fi ci ent change the pi xel val ues. I f the
change i n the pi xel val ue i s suf fi ci ent
enough such that the change can be marked
as any moti on i s what the di f f erence of the
two frames i s observed f or.
3. The di ff erence i mage that i s constructed
when the di f ference between the two i mages
that i s the ref erence i mage and the current
frame of the vi deo, i s fi rst converted to
binary and then the total number of 1s will
i denti f y the change weather i t i s good
enough val ue to decl are moti on detected or
the change i s too smal l to be consi dered as a
moti on of si gni fi cant amount.
4. Here as one can understand that the i mage
has a consi derabl e amount of movement or
not. I f there i s i ni ti al l y some moti on that i s
detected and i n the case when the di f f i s
found to be equal for f ew consecuti ve
frames. Thi s woul d i ndi cate that the movi ng
obj ect has stopped agai n. And hence i t i s
thi s frame whi ch i s consi dered as the new
ref erence f rame for detecti ng any ki nd of
moti on.
These above steps are coded i n MatLAB and
executed to detect any ki nd of moti on wi th respect to
the i nput vi deo. The moti on tracki ng conti nues
throughout the vi deo wi th respect to the standard
background whi ch changes as per the moti on of the
movi ng obj ect i n the captured vi deo. Thi s sati sf i es
the ai m of the proj ect where we consi der an i ndoor
survei l l ance system. Thi s system ai ms to f i nd any
ki nd unwanted di sturbances i n a hi ghl y secure zone
such as bank vaul ts or mi l i tary weapon hanger, and
many other such hi ghl y secure zone.
I I I . CONTROL UNI T PANEL PROTOTYPE

Once the captured vi deo i s processed under the
di f ferent modul es of the proj ect that i s descri bed
above we are i n a posi ti on to say weather there i s any
moti on detected or not. Al l

hi s processi ng i s done by the computer system but
onl y detecti on i s not our ai m. I na control
envi ronment al ong wi th any unwanted moti on
detecti on we al so l ook forward to provi de a ki nd of a
control or a publ i c addressi ng system that


woul d automati cal l y i ni ti ate i t sel f and perf orm the
control acti on i t i s assi gned to.
I n thi s proj ect we put before you an hardware uni t
whi ch i s a prototype of vari ous acti ons that can be
taken on detecti on of any unwanted moti on i n an area
under the eye of thi s system. We have put up an
al arm or al ert system whi ch i s control l ed by a
Mi crocontrol l er (AT89C51). Thi s mi crocontrol l er
based system i s i nterfaced wi th the personal
computer system through a seri al communi cati on
path i ni ti ated by the MatLAB code wri tten and
executed i n the personal computer.
The communi cati on i s possi bl e by connecti ng the
hardware uni t to the personal computer system
through a DB9 connector port, whi ch provi des the
path for communi cati on. These si gnal s are gi ven to
the mi crocontrol l er through a l i ne dri ver such as the
MAX232 chi p. Thi s i s requi red to convert RS232
vol tage l evel s to TTL l evel s, and vi ce versa. The
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si gnal s out of thi s l i ne dri ver i s gi ven to the recei ver
(RXD) and transmi tter (TXD) pi ns of the
mi crocontrol l er port-3. The l ogi cs gi ven i n the
mi crocontrol l er code work on the basi s of the i nputs
from the seri al port.
A LCD - 162 i s used to di spl ay the out come of the
process. I t marks the detecti on of moti on by
displaying MOTION DETECTED and at the same
time when there is no motion detected it displays
MOTION NOT DETECTED . It works as a user
i nterf ace that can be used for i nti mati ng the peopl e i n
duty.
We al so have a publ i c addressi ng system that i s
basi cal l y an al arm system and two LEDs that i s to
i nti mate the detecti on of moti on f or observers at a
di stance. The ci rcui t di agram f or the hardware uni t i s
shown bel l ow.

I V. ALARM SYSTEM
As di scussed above for i nti mati ng i n al l arge scal e
that i s ei ther through a PAS or si ren, i n the case when
moti on i s detected by the securi ty system we make
use of thi s uni t i n the hardware whi ch i s a prototype
of the l arge uni t. Control l ed by the mi crocontrol l er i t
sounds a buzzer when ever moti on i s detected al ong
wi th gl owi ng of a red l ed. I n the case where there i s
no moti on detected the yel l ow col or l ed sounds
creati ng no noi se as i t i s the desi rabl e state. Bel l ow i s
the hardware ci rcui t used f or thi s secti on.
Here BC-547 transi stor i s used as a swi tch. The
transi stor here i s used such that the buzzer can be
dri ven di rectl y by the 5v suppl y on recevei vi ng the
l ogi cal control si gnal from the personal computer on
detecti on of any moti on. Here the emi tter of the
transi stor i s grounded the l ogi c si gnal s comi ng from
the mi crocontrol l er i s gi ven to the base of the
transi stor and negati ve termi nal of the buzzer or the
LEDs i s connected to the col l ector of the transi stor.
The posi ti ve termi nal of the buzzer or the LEDs are
connected to the 5v dc suppl y through a 270
resi stor. When ever the l ogi cal si gnal f rom the
mi crocontrol l er i s hi gh the swi tch that i s the
transi stor acti ng as a swi tch operates as a cl osed
ci rcui t and thus the LED or the Buzzer goes on ti l l
l ogi c zero i s agai n recei ve by the gate termi nal . Thi s
uni t i s al so control l ed by the mi crocontrol l er as
di scussed. And as we know that the control l er i tsel f i s
i n di rect control of the code that i s runni ng i n the
personal computer, whi ch i s processi ng the i nput
vi deo.

V. RESULTS AND DISCUSSI ON
As menti oned i n the ai m we have devel oped a system
that extracts the foreground obj ect f rom an i mage
when i t i s compared wi th the standard background
i mage, usi ng the al gori thm whi ch i s based on pi xel
compari son. When i t comes to the vari ous modul es of
the papers we have successf ul l y i nterf aced a camera
wi th the personal computer system whi ch i s
control l ed by the system i t sel f to capture the requi red
vi deo. MatLAB codi ng i s the base of thi s research
work, whi ch i nterf aces the vari ous modul es. Af ter
i nterf aci ng the camera we successf ul l y process the
vi deo captured and reconstruct the f oreground
movi ng obj ect removi ng the standard background
secti on.
The task of detecti ng moti on i s achi eved by usi ng
MatLAB codi ng i n compari ng the reference frame
wi th every new f rame of the vi deo. The detecti on of
moti on i s achi eved by segmentati on process of the
vi deo.
Al ong wi th these processi ng of vi deo i nsi de the
computer system we have devel oped a hardware
modul e whi ch i s a prototype of a control system
output termi nal . Thi s hardware system provi des the
knowl edge of any moti on that i s detected by the
segmentati on process that i s carri ed out by the
MatLAB code.
Both the hardware and Personal Computer system
are successf ul l y i nterfaced wi th each other by seri al
communi cati on, usi ng RS232 protocol . The
mi crocontrol l er based hardware detects the data from
the system and gi ves the desi red output.



BACKGROUND I MAGE

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BACKGROUND I MAGE WI TH
FOREGROUND OBJECT

EXTRACTI ON USI NG ABOVE
ALGORI THM

VI . CONCLUSION
By I mpl ementi ng the al gori thms for moti on detecti on
and tracki ng we have successful l y achi eved the task
of moti on detecti on and tracki ng, wi th prompt
i nti mati on through the control uni t prototype that
features thi s research work.

VI I . REFERENCES

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stati sti cal pattern recogni zers,I EEE
Trans.I nf .Theory 14(1),55-63(1968).
[ 2] . .Landgrebe,D:si gnal theory methods i n mul ti
spectral remote sensi ng J,wi l ey
newyork(2003).
[ 3] . Duda,R.O.,hart,P.E.,strrk,D.G.:Pattern
cl assi fi cati on Jwi l ey newyork (2001).
[ 4] . J.L.Baron,D.J.f l eet,S.S.Beauchemi n,andT.A.B
urki tt.Performance opti cal fl ow techni ques
[ 5] . A.K.Jai n.M.N.murthyand P.j .Fl ynn.Data
cl usteri ng :a revi ewACM computi ng
surveys(CSUR)
[ 6] . C.stauff er and W.Gri msonAdapti ve gaussi an
mi xture model for real ti me tracki ng.
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