EAAI Journal 2026 Journal Article
A novel color marker-based target tracking and motion intent detection method
- Zhenyu Wang
- Zenan Lu
- Simin Tang
- Jianmin Wang
To address the limitations of conventional target tracking methods—such as reliance on external devices, poor robustness, and low accuracy in motion intent detection under complex scenarios—this study proposes a novel color marker-based target tracking and motion intent detection method (CMTT). Specifically, the target object is first annotated using color markers. Then, color segmentation and occlusion modeling techniques are applied for image preprocessing, enabling preliminary localization of the target region. Building on this, the method integrates GoogLeNet with gradient-weighted class activation mapping (Grad-CAM) for fine-grained binary classification within the identified region, enhancing the detection of key target areas. A Kalman filter is subsequently employed to perform dynamic system state estimation, achieving real-time tracking performance. To further improve robustness under varying lighting conditions, an image reconstruction strategy based on average grayscale values is introduced, effectively mitigating the impact of illumination interference on tracking accuracy. Experimental results demonstrate that the proposed CMTT method achieves substantial performance gains across several benchmark datasets. On the visual object tracking (VOT) dataset, compared to the baseline model, adaptive target classification and interaction strategy (ATCAIS), CMTT achieves a 34. 3 % increase in expected average overlap (EAO), an 8. 0 % improvement in accuracy (ACC), and a 23. 8 % enhancement in Robustness (ROB). On the depth-based tracking benchmark (DepthTrack) dataset, CMTT achieves 31. 9 %, 38. 7 %, and 25. 6 % in EAO, ACC, and ROB, respectively, highlighting its superior stability and adaptability in complex environments. An empirical study with 15 participants confirmed the consistency between the proposed method and data from inertial measurement units (IMU).