69,574 research outputs found
Real-Time RGB-D based Template Matching Pedestrian Detection
Pedestrian detection is one of the most popular topics in computer vision and
robotics. Considering challenging issues in multiple pedestrian detection, we
present a real-time depth-based template matching people detector. In this
paper, we propose different approaches for training the depth-based template.
We train multiple templates for handling issues due to various upper-body
orientations of the pedestrians and different levels of detail in depth-map of
the pedestrians with various distances from the camera. And, we take into
account the degree of reliability for different regions of sliding window by
proposing the weighted template approach. Furthermore, we combine the
depth-detector with an appearance based detector as a verifier to take
advantage of the appearance cues for dealing with the limitations of depth
data. We evaluate our method on the challenging ETH dataset sequence. We show
that our method outperforms the state-of-the-art approaches.Comment: published in ICRA 201
Fusion of Head and Full-Body Detectors for Multi-Object Tracking
In order to track all persons in a scene, the tracking-by-detection paradigm
has proven to be a very effective approach. Yet, relying solely on a single
detector is also a major limitation, as useful image information might be
ignored. Consequently, this work demonstrates how to fuse two detectors into a
tracking system. To obtain the trajectories, we propose to formulate tracking
as a weighted graph labeling problem, resulting in a binary quadratic program.
As such problems are NP-hard, the solution can only be approximated. Based on
the Frank-Wolfe algorithm, we present a new solver that is crucial to handle
such difficult problems. Evaluation on pedestrian tracking is provided for
multiple scenarios, showing superior results over single detector tracking and
standard QP-solvers. Finally, our tracker ranks 2nd on the MOT16 benchmark and
1st on the new MOT17 benchmark, outperforming over 90 trackers.Comment: 10 pages, 4 figures; Winner of the MOT17 challenge; CVPRW 201
- …