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0
5
−1
−2
0
−3
−4
−5
−5
0
10
20
30
40
50
0
10
20
30
40
50
Frame number
Frame number
(a)
t
z
(b)
θ
x
5
5
0
0
−5
−5
0
10
20
30
40
50
0
10
20
30
40
50
Frame number
Frame number
(c)
θ
y
(d)
θ
z
Fig. 15
Fitting of the recovered camera positions for the slow walking sequence
1
100
STK−based (w=5)
Gait−based (w=5)
STK−based (w=7)
Gait−based (w=7)
STK−based (w=5)
Gait−based (w=5)
STK−based (w=7)
Gait−based (w=7)
0.9
0.8
80
0.7
0.6
0.5
60
0.4
50
0.3
40
0.2
30
0.1
0
20
0
1
2
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6
7
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9
10
0
1
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5
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9
10
Frame separation
Frame separation
(a) Processing Time
(b) Retention of Features
Fig. 16
Comparison between the STK-based and gait-based framework in tracking for the
slow walking sequence (w - width of search window)
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