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Human Tracking in Occlusion based on Reappearance Event Estimation
- Source :
- ICINCO (2)
- Publication Year :
- 2016
- Publisher :
- SCITEPRESS - Science and and Technology Publications, 2016.
-
Abstract
- Relying on the commonsense knowledge that the trajectory of any physical entity in the spatio-temporal domain is continuous, we propose a heuristic data association technique. The technique is used in conjunction with an Extended Kalman Filter (EKF) for human tracking under occlusion. Our method is capable of tracking moving objects, maintain their state hypothesis even in the period of occlusion, and associate the target reappeared from occlusion with the existing hypothesis. The technique relies on the estimation of the reappearance event both in time and location, accompanied with an alert signal that would enable more intelligent behavior (e.g. in path planning). We implemented the proposed method, and evaluated its performance with real-world data. The result validates the expected capabilities, even in case of tracking multiple humans simultaneously.
- Subjects :
- 0209 industrial biotechnology
Engineering
Human Tracking
Commonsense knowledge
Signalbehandling
02 engineering and technology
Mobile Robots
Extended Kalman filter
020901 industrial engineering & automation
Datorseende och robotik (autonoma system)
Occlusion
0501 psychology and cognitive sciences
Computer vision
Motion planning
Computer Vision and Robotics (Autonomous Systems)
050107 human factors
Intelligent Vehicles
Signal processing
business.industry
Heuristic
Medicinsk bildbehandling
05 social sciences
Extended Kalman Filter
Tracking system
Robotics
Medical Image Processing
Robotteknik och automation
Signal Processing
Trajectory
Artificial intelligence
business
Detection and Tracking Moving Objects
Subjects
Details
- Database :
- OpenAIRE
- Journal :
- Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics
- Accession number :
- edsair.doi.dedup.....8da0c9398c3ae9d01165ecef296476d0