Condensation-based multi-person tracking using an online SVM approach

We propose a multi-person tracking framework using only one single camera in this paper. We utilize particle filter as the tracking framework and train a SVM classifier by reliable examples extracted from associated detections without occlusion. Based on the results of data association, we integrate the target's velocity into weights calculation to handle object occlusion assuming that fast-moving target is not likely to change directions abruptly because of inertia. In addition, we design a new data association method whose affinity measure is computed by the classifier score judged on candidate image patch, the distance and size similarity of two rectangles. The experiments reveal that our method obtains a better performance compared with other state-of-the-art algorithms for PETS'09 videos S2 L1.

[1]  Rainer Stiefelhagen,et al.  Evaluating Multiple Object Tracking Performance: The CLEAR MOT Metrics , 2008, EURASIP J. Image Video Process..

[2]  J. Munkres ALGORITHMS FOR THE ASSIGNMENT AND TRANSIORTATION tROBLEMS* , 1957 .

[3]  Horst Bischof,et al.  On-line Random Forests , 2009, 2009 IEEE 12th International Conference on Computer Vision Workshops, ICCV Workshops.

[4]  Michael Isard,et al.  CONDENSATION—Conditional Density Propagation for Visual Tracking , 1998, International Journal of Computer Vision.

[5]  F. Fleuret,et al.  Multiple object tracking using flow linear programming , 2009, 2009 Twelfth IEEE International Workshop on Performance Evaluation of Tracking and Surveillance.

[6]  Ramakant Nevatia,et al.  Global data association for multi-object tracking using network flows , 2008, 2008 IEEE Conference on Computer Vision and Pattern Recognition.

[7]  Christoph H. Lampert,et al.  Efficient Subwindow Search: A Branch and Bound Framework for Object Localization , 2009, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[8]  Ming-Hsuan Yang,et al.  Robust Object Tracking with Online Multiple Instance Learning , 2011, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[9]  Mario Vento,et al.  Performance Evaluation of a People Tracking System on PETS2009 Database , 2010, 2010 7th IEEE International Conference on Advanced Video and Signal Based Surveillance.

[10]  Bernt Schiele,et al.  New features and insights for pedestrian detection , 2010, 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[11]  Luc Van Gool,et al.  Online Multiperson Tracking-by-Detection from a Single, Uncalibrated Camera , 2011, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[12]  James M. Rehg,et al.  CENTRIST: A Visual Descriptor for Scene Categorization , 2011, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[13]  James M. Rehg,et al.  Real-time human detection using contour cues , 2011, 2011 IEEE International Conference on Robotics and Automation.

[14]  Jason Weston,et al.  Solving multiclass support vector machines with LaRank , 2007, ICML '07.

[15]  Pascal Fua,et al.  Robust People Tracking with Global Trajectory Optimization , 2006, 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'06).

[16]  Bill Triggs,et al.  Histograms of oriented gradients for human detection , 2005, 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05).

[17]  Stefan Roth,et al.  People-tracking-by-detection and people-detection-by-tracking , 2008, 2008 IEEE Conference on Computer Vision and Pattern Recognition.

[18]  Patrick Pérez,et al.  Maintaining multimodality through mixture tracking , 2003, Proceedings Ninth IEEE International Conference on Computer Vision.

[19]  Jianxin Wu,et al.  A Fast Dual Method for HIK SVM Learning , 2010, ECCV.

[20]  A. Ellis,et al.  PETS2010 and PETS2009 Evaluation of Results Using Individual Ground Truthed Single Views , 2010, 2010 7th IEEE International Conference on Advanced Video and Signal Based Surveillance.

[21]  Bernt Schiele,et al.  Monocular 3D pose estimation and tracking by detection , 2010, 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[22]  Paul A. Viola,et al.  Rapid object detection using a boosted cascade of simple features , 2001, Proceedings of the 2001 IEEE Computer Society Conference on Computer Vision and Pattern Recognition. CVPR 2001.

[23]  Konrad Schindler,et al.  Discrete-continuous optimization for multi-target tracking , 2012, 2012 IEEE Conference on Computer Vision and Pattern Recognition.

[24]  Wolfram Burgard,et al.  Tracking multiple moving targets with a mobile robot using particle filters and statistical data association , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[25]  Ramakant Nevatia,et al.  Online Learned Discriminative Part-Based Appearance Models for Multi-human Tracking , 2012, ECCV.

[26]  Bernt Schiele,et al.  Robust Object Detection with Interleaved Categorization and Segmentation , 2008, International Journal of Computer Vision.

[27]  Stan Sclaroff,et al.  Online Multi-person Tracking by Tracker Hierarchy , 2012, 2012 IEEE Ninth International Conference on Advanced Video and Signal-Based Surveillance.

[28]  Horst Bischof,et al.  On-line Boosting and Vision , 2006, 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'06).