CoMaL Tracking: Tracking Points at the Object Boundaries

Traditional point tracking algorithms such as the KLT use local 2D information aggregation for feature detection and tracking, due to which their performance degrades at the object boundaries that separate multiple objects. Recently, CoMaL Features have been proposed that handle such a case. However, they proposed a simple tracking framework where the points are re-detected in each frame and matched. This is inefficient and may also lose many points that are not re-detected in the next frame. We propose a novel tracking algorithm to accurately and efficiently track CoMaL points. For this, the level line segment associated with the CoMaL points is matched to MSER segments in the next frame using shape-based matching and the matches are further filtered using texture-based matching. Experiments show improvements over a simple re-detect-and-match framework as well as KLT in terms of speed/accuracy on different real-world applications, especially at the object boundaries.Comment: 10 pages, 10 figures, to appear in 1st Joint BMTT-PETS Workshop on Tracking and Surveillance, CVPR 201

Towards automated visual surveillance using gait for identity recognition and tracking across multiple non-intersecting cameras

Despite the fact that personal privacy has become a major concern, surveillance technology is now becoming ubiquitous in modern society. This is mainly due to the increasing number of crimes as well as the essential necessity to provide secure and safer environment. Recent research studies have confirmed now the possibility of recognizing people by the way they walk i.e. gait. The aim of this research study is to investigate the use of gait for people detection as well as identification across different cameras. We present a new approach for people tracking and identification between different non-intersecting un-calibrated stationary cameras based on gait analysis. A vision-based markerless extraction method is being deployed for the derivation of gait kinematics as well as anthropometric measurements in order to produce a gait signature. The novelty of our approach is motivated by the recent research in biometrics and forensic analysis using gait. The experimental results affirmed the robustness of our approach to successfully detect walking people as well as its potency to extract gait features for different camera viewpoints achieving an identity recognition rate of 73.6 % processed for 2270 video sequences. Furthermore, experimental results confirmed the potential of the proposed method for identity tracking in real surveillance systems to recognize walking individuals across different views with an average recognition rate of 92.5 % for cross-camera matching for two different non-overlapping views.<br/

Mixed marker-based/marker-less visual odometry system for mobile robots

When moving in generic indoor environments, robotic platforms generally rely solely on information provided by onboard sensors to determine their position and orientation. However, the lack of absolute references often leads to the introduction of severe drifts in estimates computed, making autonomous operations really hard to accomplish. This paper proposes a solution to alleviate the impact of the above issues by combining two vision‐based pose estimation techniques working on relative and absolute coordinate systems, respectively. In particular, the unknown ground features in the images that are captured by the vertical camera of a mobile platform are processed by a vision‐based odometry algorithm, which is capable of estimating the relative frame‐to‐frame movements. Then, errors accumulated in the above step are corrected using artificial markers displaced at known positions in the environment. The markers are framed from time to time, which allows the robot to maintain the drifts bounded by additionally providing it with the navigation commands needed for autonomous flight. Accuracy and robustness of the designed technique are demonstrated using an off‐the‐shelf quadrotor via extensive experimental test

Human Motion Trajectory Prediction: A Survey

With growing numbers of intelligent autonomous systems in human environments, the ability of such systems to perceive, understand and anticipate human behavior becomes increasingly important. Specifically, predicting future positions of dynamic agents and planning considering such predictions are key tasks for self-driving vehicles, service robots and advanced surveillance systems. This paper provides a survey of human motion trajectory prediction. We review, analyze and structure a large selection of work from different communities and propose a taxonomy that categorizes existing methods based on the motion modeling approach and level of contextual information used. We provide an overview of the existing datasets and performance metrics. We discuss limitations of the state of the art and outline directions for further research.Comment: Submitted to the International Journal of Robotics Research (IJRR), 37 page