Tracking multiple people under occlusion and across cameras is a challenging question for discussion. Furthermore, the cameras in this study are used to extend the field of view, which are distinguished from the same ...Tracking multiple people under occlusion and across cameras is a challenging question for discussion. Furthermore, the cameras in this study are used to extend the field of view, which are distinguished from the same field of view. Such corre- spondence between multiple cameras is a burgeoning research subject in the area of computer vision. This paper effectively solves the problems of tracking multiple people who pass from one camera to another and segmenting people under occlusion using probabilistic models. The probabilistic models are composed of blob model, motion model and color model, which make the most of the space, motion and color information. First, we present a color model that uses maximum likelihood estimation based on non-parametric kernel density estimation. Second, we introduce a blob model based on mean shift, which segments the body into many regions according to the color of each person in order to spatially localize the color features corresponding to the way people are dressed. Clothes can be any mixture of colors. Third, we bring forward a motion model based on statistical probability which indicates the movement position of the same person between two successive frames in a single camera. Finally, we effectively unify the three models into a general probabilistic model and attain a maximization likelihood probability image, which is used to segment the foreground region under occlusion and to match people across multiple cameras.展开更多
A probabilistic algorithm is proposed for the problem of simultaneous robot localization and peopletracking （SLAP） using single onboard sensor in situations with sensor noise and global uncertainties over the obser...A probabilistic algorithm is proposed for the problem of simultaneous robot localization and peopletracking （SLAP） using single onboard sensor in situations with sensor noise and global uncertainties over the observer＇s pose. By the decomposition of the joint distribution according to the Rao-Blackwell theorem, posteriors of the robot pose are sequentially estimated over time by a smoothed laser perception model and an improved resampling scheme with evolution strategies; the conditional distribution of the person＇s position is estimated using unscented Kalman filter （UKF） to deal with the nonlinear dynamic of human motion. Experiments conducted in a real indoor service robot scenario validate the favorable performance of the positional accuracy as well as the improved computational efficiency.展开更多
文摘Tracking multiple people under occlusion and across cameras is a challenging question for discussion. Furthermore, the cameras in this study are used to extend the field of view, which are distinguished from the same field of view. Such corre- spondence between multiple cameras is a burgeoning research subject in the area of computer vision. This paper effectively solves the problems of tracking multiple people who pass from one camera to another and segmenting people under occlusion using probabilistic models. The probabilistic models are composed of blob model, motion model and color model, which make the most of the space, motion and color information. First, we present a color model that uses maximum likelihood estimation based on non-parametric kernel density estimation. Second, we introduce a blob model based on mean shift, which segments the body into many regions according to the color of each person in order to spatially localize the color features corresponding to the way people are dressed. Clothes can be any mixture of colors. Third, we bring forward a motion model based on statistical probability which indicates the movement position of the same person between two successive frames in a single camera. Finally, we effectively unify the three models into a general probabilistic model and attain a maximization likelihood probability image, which is used to segment the foreground region under occlusion and to match people across multiple cameras.
基金supported by National Natural Science Foundation of China (Nos. 61075090, 61005092)
文摘A probabilistic algorithm is proposed for the problem of simultaneous robot localization and peopletracking （SLAP） using single onboard sensor in situations with sensor noise and global uncertainties over the observer＇s pose. By the decomposition of the joint distribution according to the Rao-Blackwell theorem, posteriors of the robot pose are sequentially estimated over time by a smoothed laser perception model and an improved resampling scheme with evolution strategies; the conditional distribution of the person＇s position is estimated using unscented Kalman filter （UKF） to deal with the nonlinear dynamic of human motion. Experiments conducted in a real indoor service robot scenario validate the favorable performance of the positional accuracy as well as the improved computational efficiency.
