Trajectory occlusion handling with multiple view distance minimization clustering

Abstract

A robust and efficient method for overcoming the negative effects of long-time occlusion in the tracking process is presented. The proposed approach is based on the matching of multiple trajectories in time. Trajectories are sets of 2-D points in time and in a joint ground plane of the world coordinate system. In order to avoid mismatches due to possible measurement outliers, we introduce an integral distance between compared trajectories. The proposed method can also be considered as an interpolation algorithm for a disconnected trajectory during the blackout. Thus this technique solves one of the most difficult problems of occlusion handling: the matching of two unconnected parts of the same trajectory.This work was supported by the project 'Integration of robust perception, learning, and navigation systems in mobile robotics' (J-0929). This work has been supported by EC grant IST-027110 for the HERMES project and by the Spanish MEC under projects TIC2003-08865 and DPI-2004-5414. M. Mozerov acknowledges the support of the Ramon y Cajal research program, MEC, Spain, and J. Gonzàlez also acknowledges the support of a Juan de la Cierva postdoctoral fellowship from the Spanish MEC.Peer Reviewe