Fig. 1. Overall framework of mixed tracking registration algorithm

Fig. 2. Simulation results of salience combined with center prior. (a) Original image; (b) global salience map; (c) salience map with center prior

Fig. 3. Schematics of feature extraction. (a) FAST feature detection; (b) BRIEF feature descriptor

Fig. 4. Schematic of feature matching. (a) Hamming distance matching; (b) eliminating mismatches

Fig. 5. Tracking results of different algorithms. (a) Box sequence; (b) Liquor sequence

Fig. 6. Central position errors of different algorithms. (a) Box sequence; (b) Liquor sequence

Fig. 7. Tracking registration results of Box sequence. (a) ORB feature and optical flow method; (b) proposed method

Fig. 8. Tracking registration results of Liquor sequence. (a) ORB feature and optical flow method; (b) proposed method