Computer Engineering and Applications ›› 2021, Vol. 57 ›› Issue (7): 178-184.DOI: 10.3778/j.issn.1002-8331.2009-0416

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Improved TLD and ORB Based Long Term Tracking Registration Method for AR System

YONG Jiu, WANG Yangping, DANG Jianwu, LEI Xiaomei   

  1. 1.The National Computer Science and Technology Experimental Teaching Demonstration Center, Lanzhou Jiaotong Univeristy, Lanzhou 730070, China
    2.The National Virtual Simulation Experiment Teaching Center of Railway Traffic Information and Control, Lanzhou Jiaotong University, Lanzhou 730070, China
    3.Meteorological Information and Technological Supporting Center, Gansu Meteorological Service, Lanzhou 730020,China
  • Online:2021-04-01 Published:2021-04-02



  1. 1.兰州交通大学 计算机科学与技术国家级实验教学示范中心,兰州 730070
    2.兰州交通大学 轨道交通信息与控制国家级虚拟仿真实验教学中心,兰州 730070
    3.甘肃省气象信息与技术装备保障中心,兰州 730020


In view of the requirements of long-term tracking registration in Augmented Reality(AR) system and the problems of registration failure easily caused by complex environment such as scale change, illumination change and internal and external rotation of registration area in 3D tracking registration, an AR long-term 3D registration method is proposed to improve Tracking-Learning-Detection(TLD) tracking and Oriented FAST and Rotated BRIEF(ORB) detection. The TLD long-term robust tracking algorithm is used to track the registration area, and the adaptive dynamic detection strategy is used to optimize the real-time performance and precision of the tracking learning detection structure mechanism of the TLD algorithm. Then, the ORB algorithm is used to detect the registered location and calculate the 3D registration matrix. Finally, the virtual information is superimposed on the registration location. The experimental results show that compared with TLD algorithm, the improved TLD long-term tracking algorithm can improve the accuracy of One-Pass Evaluation(OPE) by about 5% and the tracking rate of the location to be registered is increased by about 2 times, which makes the AR system have better stability and robustness in the complex environment.



关键词: TLD算法, ORB算法, 长时跟踪, 注册区域检测, 长时注册