164,809 research outputs found
3D Tracking Using Multi-view Based Particle Filters
Visual surveillance and monitoring of indoor environments using multiple cameras has become a field of great activity in computer vision. Usual 3D tracking and positioning systems rely on several independent 2D tracking modules applied over individual camera streams, fused using geometrical relationships across cameras. As 2D tracking systems suffer inherent difficulties due to point of view limitations (perceptually similar foreground and background regions causing fragmentation of moving objects, occlusions), 3D tracking based on partially erroneous 2D tracks are likely to fail when handling multiple-people interaction. To overcome this problem, this paper proposes a Bayesian framework for combining 2D low-level cues from multiple cameras directly into the 3D world through 3D Particle Filters. This method allows to estimate the probability of a certain volume being occupied by a moving object, and thus to segment and track multiple people across the monitored area. The proposed method is developed on the basis of simple, binary 2D moving region segmentation on each camera, considered as different state observations. In addition, the method is proved well suited for integrating additional 2D low-level cues to increase system robustness to occlusions: in this line, a naïve color-based (HSI) appearance model has been integrated, resulting in clear performance improvements when dealing with complex scenarios
Robust Distributed Fusion with Labeled Random Finite Sets
This paper considers the problem of the distributed fusion of multi-object
posteriors in the labeled random finite set filtering framework, using
Generalized Covariance Intersection (GCI) method. Our analysis shows that GCI
fusion with labeled multi-object densities strongly relies on label
consistencies between local multi-object posteriors at different sensor nodes,
and hence suffers from a severe performance degradation when perfect label
consistencies are violated. Moreover, we mathematically analyze this phenomenon
from the perspective of Principle of Minimum Discrimination Information and the
so called yes-object probability. Inspired by the analysis, we propose a novel
and general solution for the distributed fusion with labeled multi-object
densities that is robust to label inconsistencies between sensors.
Specifically, the labeled multi-object posteriors are firstly marginalized to
their unlabeled posteriors which are then fused using GCI method. We also
introduce a principled method to construct the labeled fused density and
produce tracks formally. Based on the developed theoretical framework, we
present tractable algorithms for the family of generalized labeled
multi-Bernoulli (GLMB) filters including -GLMB, marginalized
-GLMB and labeled multi-Bernoulli filters. The robustness and
efficiency of the proposed distributed fusion algorithm are demonstrated in
challenging tracking scenarios via numerical experiments.Comment: 17pages, 23 figure
Methods and apparatus for extraction and tracking of objects from multi-dimensional sequence data
An object tracking technique is provided which, given: (i) a potentially large data set; (ii) a set of dimensions along which the data has been ordered; and (iii) a set of functions for measuring the similarity between data elements, a set of objects are produced. Each of these objects is defined by a list of data elements. Each of the data elements on this list contains the probability that the data element is part of the object. The method produces these lists via an adaptive, knowledge-based search function which directs the search for high-probability data elements. This serves to reduce the number of data element combinations evaluated while preserving the most flexibility in defining the associations of data elements which comprise an object
Object tracking using incremental 2D-LDA learning and Bayes inference
The appearances of the tracked object and its surrounding background usually change during tracking. As for tracking methods using subspace analysis, fixed subspace basis tends to cause tracking failure. In this paper, a novel tracking method is proposed by using incremental 2D-LDA learning and Bayes inference. Incremental 2D-LDA formulates object tracking as online classification between foreground and background. It updates the row- or/and column-projected matrix efficiently. Based on the current object location and the prior knowledge, the possible locations of the object (candidates) in the next frame are predicted using simple sampling method. Applying 2D-LDA projection matrix and Bayes inference, candidate that maximizes the posterior probability is selected as the target object. Moreover, informative background samples are selected to update the subspace basis. Experiments are performed on image sequences with the object’s appearance variations due to pose, lighting, etc. We also make comparison to incremental 2D-PCA and incremental FDA. The experimental results demonstrate that the proposed method is efficient and outperforms both the compared methods. Index Terms—object tracking, incremental 2D-LDA, Bayes inferenc
Multisensor Multiobject Tracking With High-Dimensional Object States
Passive monitoring of acoustic or radio sources has important applications in
modern convenience, public safety, and surveillance. A key task in passive
monitoring is multiobject tracking (MOT). This paper presents a Bayesian method
for multisensor MOT for challenging tracking problems where the object states
are high-dimensional, and the measurements follow a nonlinear model. Our method
is developed in the framework of factor graphs and the sum-product algorithm
(SPA) and implemented using random samples or "particles". The multimodal
probability density functions (pdfs) provided by the SPA are effectively
represented by a Gaussian mixture model (GMM). To perform the operations of the
SPA in high-dimensional spaces, we make use of Particle flow (PFL). Here,
particles are migrated towards regions of high likelihood based on the solution
of a partial differential equation. This makes it possible to obtain good
object detection and tracking performance even in challenging multisensor MOT
scenarios with single sensor measurements that have a lower dimension than the
object positions. We perform a numerical evaluation in a passive acoustic
monitoring scenario where multiple sources are tracked in 3-D from 1-D
time-difference-of-arrival (TDOA) measurements provided by pairs of
hydrophones. Our numerical results demonstrate favorable detection and
estimation accuracy compared to state-of-the-art reference techniques.Comment: 13 page
Versatile Bayesian classifier for moving object detection by non-parametric background-foreground modeling
Along the recent years, several moving object detection strategies by non-parametric background-foreground modeling have been proposed. To combine both models and to obtain the probability of a pixel to belong to the foreground, these strategies make use of Bayesian classifiers. However, these classifiers do not allow to take advantage of additional prior information at different pixels. So, we propose a novel and efficient alternative Bayesian classifier that is suitable for this kind of strategies and that allows the use of whatever prior information. Additionally, we present an effective method to dynamically estimate prior probability from the result of a particle filter-based tracking strategy
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