308 research outputs found
An advanced Bayesian model for the visual tracking of multiple interacting objects
Visual tracking of multiple objects is a key component of many visual-based systems. While there are reliable
algorithms for tracking a single object in constrained scenarios, the object tracking is still a challenge in
uncontrolled situations involving multiple interacting objects that have a complex dynamics. In this article, a novel
Bayesian model for tracking multiple interacting objects in unrestricted situations is proposed. This is accomplished
by means of an advanced object dynamic model that predicts possible interactive behaviors, which in turn depend
on the inference of potential events of object occlusion. The proposed tracking model can also handle false and
missing detections that are typical from visual object detectors operating in uncontrolled scenarios. On the other
hand, a Rao-Blackwellization technique has been used to improve the accuracy of the estimated object trajectories,
which is a fundamental aspect in the tracking of multiple objects due to its high dimensionality. Excellent results
have been obtained using a publicly available database, proving the efficiency of the proposed approach
A Rao-Blackwellized Particle Filter for EigenTracking
©2004 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.Presented at the 2004 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 27 June-2 July 2004, Washington, D.C.DOI: 10.1109/CVPR.2004.1315271Subspace representations have been a popular way to
model appearance in computer vision. In Jepson and
Black’s influential paper on EigenTracking, they were
successfully applied in tracking. For noisy targets,
optimization-based algorithms (including EigenTracking)
often fail catastrophically after losing track. Particle
filters have recently emerged as a robust method
for tracking in the presence of multi-modal distributions.
To use subspace representations in a particle filter, the
number of samples increases exponentially as the state
vector includes the subspace coefficients. We introduce
an efficient method for using subspace representations
in a particle filter by applying Rao-Blackwellization to
integrate out the subspace coefficients in the state vector.
Fewer samples are needed since part of the posterior
over the state vector is analytically calculated. We
use probabilistic principal component analysis to obtain
analytically tractable integrals. We show experimental
results in a scenario in which we track a target in clutter
A Rao-Blackwellized Mixed State Particle Filter for Head Pose Tracking
This paper presents a Rao-Blackwellized mixed state particle filter for joint head tracking and pose estimation. Rao-Blackwellizing a particle filter consists of marginalizing some of the variables of the state space in order to exactly compute their posterior probability density function. Marginalizing variables reduces the dimension of the configuration space and makes the particle filter more efficient and requires a lower number of particles. Experiments were conducted on our head pose ground truth video database consisting of people engaged in meeting discussions. Results from these experiments demonstrated benefits of the Rao-Blackwellized particle filter model with fewer particles over the mixed state particle filter model
Theory, Design, and Implementation of Landmark Promotion Cooperative Simultaneous Localization and Mapping
Simultaneous Localization and Mapping (SLAM) is a challenging problem in practice, the use of multiple robots and inexpensive sensors poses even more demands on the designer. Cooperative SLAM poses specific challenges in the areas of computational efficiency, software/network performance, and robustness to errors. New methods in image processing, recursive filtering, and SLAM have been developed to implement practical algorithms for cooperative SLAM on a set of inexpensive robots.
The Consolidated Unscented Mixed Recursive Filter (CUMRF) is designed to handle non-linear systems with non-Gaussian noise. This is accomplished using the Unscented Transform combined with Gaussian Mixture Models. The Robust Kalman Filter is an extension of the Kalman Filter algorithm that improves the ability to remove erroneous observations using Principal Component Analysis (PCA) and the X84 outlier rejection rule. Forgetful SLAM is a local SLAM technique that runs in nearly constant time relative to the number of visible landmarks and improves poor performing sensors through sensor fusion and outlier rejection. Forgetful SLAM correlates all measured observations, but stops the state from growing over time. Hierarchical Active Ripple SLAM (HAR-SLAM) is a new SLAM architecture that breaks the traditional state space of SLAM into a chain of smaller state spaces, allowing multiple robots, multiple sensors, and multiple updates to occur in linear time with linear storage with respect to the number of robots, landmarks, and robots poses. This dissertation presents explicit methods for closing-the-loop, joining multiple robots, and active updates. Landmark Promotion SLAM is a hierarchy of new SLAM methods, using the Robust Kalman Filter, Forgetful SLAM, and HAR-SLAM.
Practical aspects of SLAM are a focus of this dissertation. LK-SURF is a new image processing technique that combines Lucas-Kanade feature tracking with Speeded-Up Robust Features to perform spatial and temporal tracking. Typical stereo correspondence techniques fail at providing descriptors for features, or fail at temporal tracking. Several calibration and modeling techniques are also covered, including calibrating stereo cameras, aligning stereo cameras to an inertial system, and making neural net system models. These methods are important to improve the quality of the data and images acquired for the SLAM process
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