by Nvon Hoyningen-Huene and M Beetz
Abstract:
We propose a novel efficient algorithm for robust tracking of a fixed number of targets in real-time with low failure rate. The method is an instance of Sequential Importance Resampling filters approximating the posterior of complete target configurations as a mixture of Gaussians. Using predicted target positions by Kalman filters, data associations are sampled for each measurement sweep according to their likelihood allowing to constrain the number of associations per target. Updated target configurations are weighted for resampling pursuant to their explanatory power for former positions and measurements. Fixed-lag of the resulting positions increases the tracking quality while smart resampling and memoization decrease the computational demand. A negative information handling exploits missing measurements for a target outside the monitored area. We present both, qualitative and quantitative experimental results on two demanding real-world applications with occluded and highly confusable targets, demonstrating the robustness and real-time performance of our approach outperforming current state-of-the-art MCMC methods.
Reference:
Robust real-time multiple target tracking (Nvon Hoyningen-Huene and M Beetz), In Ninth Asian Conference on Computer Vision (ACCV), 2009.
Bibtex Entry:
@inproceedings{hoyningen-huene_robust_2009,
author = {Nvon Hoyningen-Huene and M Beetz},
title = {Robust real-time multiple target tracking},
booktitle = {Ninth Asian Conference on Computer Vision ({ACCV)}},
year = {2009},
address = {Xi'an, China},
month = {sep},
abstract = {We propose a novel efficient algorithm for robust tracking of a fixed
number of targets in real-time with low failure rate. The method
is an instance of Sequential Importance Resampling filters approximating
the posterior of complete target configurations as a mixture of Gaussians.
Using predicted target positions by Kalman filters, data associations
are sampled for each measurement sweep according to their likelihood
allowing to constrain the number of associations per target. Updated
target configurations are weighted for resampling pursuant to their
explanatory power for former positions and measurements. Fixed-lag
of the resulting positions increases the tracking quality while smart
resampling and memoization decrease the computational demand. A negative
information handling exploits missing measurements for a target outside
the monitored area. We present both, qualitative and quantitative
experimental results on two demanding real-world applications with
occluded and highly confusable targets, demonstrating the robustness
and real-time performance of our approach outperforming current state-of-the-art
{MCMC} methods.},
}