Data association and occlusion handling for vision-based people tracking by mobile robots

This paper presents an approach for tracking multiple persons on a mobile robot with a combination of colour and thermal vision sensors, using several new techniques. First, an adaptive colour model is incorporated into the measurement model of the tracker. Second, a new approach for detecting occlusions is introduced, using a machine learning classifier for pairwise comparison of persons (classifying which one is in front of the other). Third, explicit occlusion handling is incorporated into the tracker. The paper presents a comprehensive, quantitative evaluation of the whole system and its different components using several real world data sets

Human mobility monitoring in very low resolution visual sensor network

This paper proposes an automated system for monitoring mobility patterns using a network of very low resolution visual sensors (30 30 pixels). The use of very low resolution sensors reduces privacy concern, cost, computation requirement and power consumption. The core of our proposed system is a robust people tracker that uses low resolution videos provided by the visual sensor network. The distributed processing architecture of our tracking system allows all image processing tasks to be done on the digital signal controller in each visual sensor. In this paper, we experimentally show that reliable tracking of people is possible using very low resolution imagery. We also compare the performance of our tracker against a state-of-the-art tracking method and show that our method outperforms. Moreover, the mobility statistics of tracks such as total distance traveled and average speed derived from trajectories are compared with those derived from ground truth given by Ultra-Wide Band sensors. The results of this comparison show that the trajectories from our system are accurate enough to obtain useful mobility statistics

User-interface to a CCTV video search system

The proliferation of CCTV surveillance systems creates a problem of how to effectively navigate and search the resulting video archive, in a variety of security scenarios. We are concerned here with a situation where a searcher must locate all occurrences of a given person or object within a specified timeframe and with constraints on which camera(s) footage is valid to search. Conventional approaches based on browsing time/camera based combinations are inadequate. We advocate using automatically detected video objects as a basis for search, linking and browsing. In this paper we present a system under development based on users interacting with detected video objects. We outline the suite of technologies needed to achieve such a system and for each we describe where we are in terms of realizing those technologies. We also present a system interface to this system, designed with user needs and user tasks in mind

SAVASA project @ TRECVID 2012: interactive surveillance event detection

In this paper we describe our participation in the interactive surveillance event detection task at TRECVid 2012. The system we developed was comprised of individual classifiers brought together behind a simple video search interface that enabled users to select relevant segments based on down~sampled animated gifs. Two types of user -- `experts' and `end users' -- performed the evaluations. Due to time constraints we focussed on three events -- ObjectPut, PersonRuns and Pointing -- and two of the five available cameras (1 and 3). Results from the interactive runs as well as discussion of the performance of the underlying retrospective classifiers are presented

RGB-D datasets using microsoft kinect or similar sensors: a survey

RGB-D data has turned out to be a very useful representation of an indoor scene for solving fundamental computer vision problems. It takes the advantages of the color image that provides appearance information of an object and also the depth image that is immune to the variations in color, illumination, rotation angle and scale. With the invention of the low-cost Microsoft Kinect sensor, which was initially used for gaming and later became a popular device for computer vision, high quality RGB-D data can be acquired easily. In recent years, more and more RGB-D image/video datasets dedicated to various applications have become available, which are of great importance to benchmark the state-of-the-art. In this paper, we systematically survey popular RGB-D datasets for different applications including object recognition, scene classification, hand gesture recognition, 3D-simultaneous localization and mapping, and pose estimation. We provide the insights into the characteristics of each important dataset, and compare the popularity and the difficulty of those datasets. Overall, the main goal of this survey is to give a comprehensive description about the available RGB-D datasets and thus to guide researchers in the selection of suitable datasets for evaluating their algorithms