4,225 research outputs found
Robust 3D People Tracking and Positioning System in a Semi-Overlapped Multi-Camera Environment
People positioning and tracking in 3D indoor environments are challenging tasks due to background clutter and occlusions. Current works are focused on solving people occlusions in low-cluttered backgrounds, but fail in high-cluttered scenarios, specially when foreground objects occlude people. In this paper, a novel 3D people positioning and tracking system is presented, which shows itself robust to both possible occlusion sources: static scene objects and other people. The system holds on a set of multiple cameras with partially overlapped fields of view. Moving regions are segmented independently in each camera stream by means of a new background modeling strategy based on Gabor filters. People detection is carried out on these segmentations through a template-based correlation strategy. Detected people are tracked independently in each camera view by means of a graph-based matching strategy, which estimates the best correspondences between consecutive people segmentations. Finally, 3D tracking and positioning of people is achieved by geometrical consistency analysis over the tracked 2D candidates, using head position (instead of object centroids) to increase robustness to foreground occlusions
Pedestrian detection in uncontrolled environments using stereo and biometric information
A method for pedestrian detection from challenging real world outdoor scenes is presented in this paper. This technique is able to extract multiple pedestrians, of varying orientations and appearances, from a scene even when faced with large and multiple occlusions. The technique is also robust to changing background lighting conditions and effects, such as shadows. The technique applies an enhanced method from which reliable disparity information can be obtained even from untextured homogeneous areas within a scene. This is used in conjunction with ground plane estimation and biometric information,to obtain reliable pedestrian regions. These regions are robust to erroneous areas of disparity data and also to severe pedestrian occlusion, which often occurs in unconstrained scenarios
Real-Time Seamless Single Shot 6D Object Pose Prediction
We propose a single-shot approach for simultaneously detecting an object in
an RGB image and predicting its 6D pose without requiring multiple stages or
having to examine multiple hypotheses. Unlike a recently proposed single-shot
technique for this task (Kehl et al., ICCV'17) that only predicts an
approximate 6D pose that must then be refined, ours is accurate enough not to
require additional post-processing. As a result, it is much faster - 50 fps on
a Titan X (Pascal) GPU - and more suitable for real-time processing. The key
component of our method is a new CNN architecture inspired by the YOLO network
design that directly predicts the 2D image locations of the projected vertices
of the object's 3D bounding box. The object's 6D pose is then estimated using a
PnP algorithm.
For single object and multiple object pose estimation on the LINEMOD and
OCCLUSION datasets, our approach substantially outperforms other recent
CNN-based approaches when they are all used without post-processing. During
post-processing, a pose refinement step can be used to boost the accuracy of
the existing methods, but at 10 fps or less, they are much slower than our
method.Comment: CVPR 201
Multilinear Wavelets: A Statistical Shape Space for Human Faces
We present a statistical model for D human faces in varying expression,
which decomposes the surface of the face using a wavelet transform, and learns
many localized, decorrelated multilinear models on the resulting coefficients.
Using this model we are able to reconstruct faces from noisy and occluded D
face scans, and facial motion sequences. Accurate reconstruction of face shape
is important for applications such as tele-presence and gaming. The localized
and multi-scale nature of our model allows for recovery of fine-scale detail
while retaining robustness to severe noise and occlusion, and is
computationally efficient and scalable. We validate these properties
experimentally on challenging data in the form of static scans and motion
sequences. We show that in comparison to a global multilinear model, our model
better preserves fine detail and is computationally faster, while in comparison
to a localized PCA model, our model better handles variation in expression, is
faster, and allows us to fix identity parameters for a given subject.Comment: 10 pages, 7 figures; accepted to ECCV 201
- âŠ