Yolo-Detection based 2D object

tracking with Kalman filter

KARPEKOV ARMAN
ARIPOV SOKRAT
ARMANULY GANI
ABDULKARIMOV RAMZAN
 General outline
1. Introduction
2. Background
3. Methodology
4. Implemantation
5. Results and Evaluation
6. Conclusion
 Introduction

1. YOLO object detection and the Kalman filter, the project seeks to
overcome the limitations of standalone object detection methods and
enhance the accuracy and reliability of 2D object tracking. This fusion of
techniques opens up possibilities for improving situational awareness,
decision-making, and interaction between intelligent systems and their
surroundings.
2. accurate and reliable object tracking enhances situational awareness,
improves decision-making, and enables intelligent systems to interact
effectively with their surroundings. By providing continuous information
about object positions, velocities, and trajectories, object tracking empowers
surveillance systems, autonomous vehicles, and robots to operate safely,
efficiently, and with a higher level of autonomy. It is a critical component
that enables advanced functionalities and applications in these domains,
paving the way for innovative solutions in safety, efficiency, and human-
machine interaction.
 Background

1. YOLO object detection's speed, simplicity, contextual

awareness, and ability to detect multiple objects make it a
powerful and efficient algorithm for real-time object
recognition. Its advantages have made YOLO widely adopted
in numerous applications, ranging from surveillance systems
and autonomous vehicles to robotics and computer vision
research.
2. The Kalman filter's role in object tracking is to provide
a reliable and optimal estimation of the object's state by
combining predictions and measurements. Its ability to handle
noisy measurements, predict future states, and adapt
dynamically makes it a powerful tool for improving object
tracking accuracy in various applications.
 Methodology

 1. The project combines the strengths of YOLO-based object

detection for initial identification and localization of objects
with the Kalman filter for accurate and reliable object
tracking over time. The integration of these two techniques
allows for precise and continuous 2D object tracking, even
in the presence of noise, occlusions, and measurement
errors.
 Implementation

 We can train the YOLO model on a specific dataset to detect

the desired objects accurately. The key is to have a well-
annotated dataset, configure the model appropriately, train
with an appropriate loss function, and fine-tune the model
iteratively for improved performance.
 Results and Evaluation

 It's important to note that the actual results depend on

factors such as the quality and diversity of the dataset, the
tuning of model parameters, the performance of the object
detection model (YOLO), and the specific implementation
of the Kalman filter-based tracking algorithm.
 To evaluate and visualize the results, you can generate
output visualizations, such as annotated images or videos,
showing the tracked objects' trajectories, bounding boxes,
and class labels over time. Metrics such as tracking
accuracy, precision, recall, and intersection over union
(IoU) can also be calculated to assess the performance of
the combined approach.
 Conclusion

The project's key findings and contributions lie in

the successful integration of YOLO object detection
and the Kalman filter for 2D object tracking, leading
to improved real-time tracking accuracy, reduced
noise, and enhanced visual representation of object
trajectories.