Computer vision remains challenged by tracking multiple objects in motion frames, despite efforts to improve surveillance, healthcare, and human-machine interaction. This paper presents a method for monitoring several moving objects in non-stationary settings for autonomous navigation. Additionally, at each phase, movement information between successive frames, including the new frame and the previous frame, is employed to determine the location of moving objects inside the camera's field of view, and the background in the new frame is determined. With the help of a matching algorithm, the Kanade-Lucas-Tomasi (KLT) feature tracker for each frame is determined. To get the new frame, we access the matching feature points between two subsequent frames, calculate the movement size of the feature points and the camera movement, and subtract the previous frame of moving objects from the current frame. Every moving object within the camera's field of view is captured at every moment and location. The moving items are categorized and segregated using fuzzy logic based on their mass center and length-to-width ratio. Our algorithm was implemented to investigate autonomous navigation surveillance of three types of moving objects, such as a vehicle, a pedestrian, a bicycle, or a motorcycle. The results indicate high accuracy and an acceptable time requirement for monitoring moving objects. It has a tracking and classification accuracy of around 75 % and processes 43 frames per second, making it superior to existing approaches in terms of speed and accuracy.
Keywords: Decision-making system; Fuzzy algorithm; KLT feature points; Object tracking; Video processing.
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