Object tracking in an rgb video

I have an RGB video file in which there is a surgical instrument moving in a circular path.I want to track its tip and ensure that the tracking point stays on it till the end.But the problem is,the video has a lot of noise.Each frame has different lighting variations due to which I am not able to get any points of interest.I used kalman filter to track.I am able to track the tool but not able to focus on the tip.I observed that the tip is not clear in a particular set of frames.I am an amateur matlab programmer.What could be the possible solution to achieve this.Please help

Answer 1

[Dima Lisin]

Try using vision.KalmanFilter. Since the object is moving in a circle, the constant acceleration motion model would be appropriate. Take a look at this example.