910 research outputs found
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
Understanding Vehicular Traffic Behavior from Video: A Survey of Unsupervised Approaches
Recent emerging trends for automatic behavior analysis and understanding from infrastructure video are reviewed. Research has shifted from high-resolution estimation of vehicle state and instead, pushed machine learning approaches to extract meaningful patterns in aggregates in an unsupervised fashion. These patterns represent priors on observable motion, which can be utilized to describe a scene, answer behavior questions such as where is a vehicle going, how many vehicles are performing the same action, and to detect an abnormal event. The review focuses on two main methods for scene description, trajectory clustering and topic modeling. Example applications that utilize the behavioral modeling techniques are also presented. In addition, the most popular public datasets for behavioral analysis are presented. Discussion and comment on future directions in the field are also provide
Tracking Multiple Persons Based on a Variational Bayesian Model
International audienceObject tracking is an ubiquitous problem in computer vision with many applications in human-machine and human-robot interaction, augmented reality, driving assistance, surveillance, etc. Although thoroughly investigated, tracking multiple persons remains a challenging and an open problem. In this paper, an online variational Bayesian model for multiple-person tracking is proposed. This yields a variational expectation-maximization (VEM) algorithm. The computational efficiency of the proposed method is due to closed-form expressions for both the posterior distributions of the latent variables and for the estimation of the model parameters. A stochastic process that handles person birth and person death enables the tracker to handle a varying number of persons over long periods of time. The proposed method is benchmarked using the MOT 2016 dataset
Dynamic Switching State Systems for Visual Tracking
This work addresses the problem of how to capture the dynamics of maneuvering objects for visual tracking. Towards this end, the perspective of recursive Bayesian filters and the perspective of deep learning approaches for state estimation are considered and their functional viewpoints are brought together
Dynamic Switching State Systems for Visual Tracking
This work addresses the problem of how to capture the dynamics of maneuvering objects for visual tracking. Towards this end, the perspective of recursive Bayesian filters and the perspective of deep learning approaches for state estimation are considered and their functional viewpoints are brought together
Video Event Recognition and Anomaly Detection by Combining Gaussian Process and Hierarchical Dirichlet Process Models
In this paper, we present an unsupervised learning framework for analyzing
activities and interactions in surveillance videos. In our framework, three
levels of video events are connected by Hierarchical Dirichlet Process (HDP)
model: low-level visual features, simple atomic activities, and multi-agent
interactions. Atomic activities are represented as distribution of low-level
features, while complicated interactions are represented as distribution of
atomic activities. This learning process is unsupervised. Given a training
video sequence, low-level visual features are extracted based on optic flow and
then clustered into different atomic activities and video clips are clustered
into different interactions. The HDP model automatically decide the number of
clusters, i.e. the categories of atomic activities and interactions. Based on
the learned atomic activities and interactions, a training dataset is generated
to train the Gaussian Process (GP) classifier. Then the trained GP models work
in newly captured video to classify interactions and detect abnormal events in
real time. Furthermore, the temporal dependencies between video events learned
by HDP-Hidden Markov Models (HMM) are effectively integrated into GP classifier
to enhance the accuracy of the classification in newly captured videos. Our
framework couples the benefits of the generative model (HDP) with the
discriminant model (GP). We provide detailed experiments showing that our
framework enjoys favorable performance in video event classification in
real-time in a crowded traffic scene
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