The Probability Hypothesis Density (PHD) filter is a multi-object Bayes filter which has recently attracted a lot of interest in the tracking community mainly for its linear complexity and its ability to deal with high clutter especially in radar/sonar scenarios. In the computer vision community however, underlying constraints are different from radar scenarios and have to be taken into account when using the PHD filter. In this article, we propose a new tree-based path extraction algorithm for a Gaussian Mixture PHD filter in Computer Vision applications. We also investigate how an additional benefit can be achieved by using a second human detector and justify an approximation for multiple sensors in low-clutter scenarios.
Gaussian mixture models have been extensively used and enhanced in the surveillance domain because of their ability to adaptively describe multimodal distributions in real-time with low memory requirements. Nevertheless, they still often suffer from the problem of converging to poor solutions if the main mode stretches and thus over-dominates weaker distributions. Based on the results of the Split and Merge EM algorithm, in this paper we propose a solution to this problem. Therefore, we define an appropriate splitting operation and the corresponding criterion for the selection of candidate modes, for the case of background subtraction. The proposed method achieves better background models than state-of-the-art approaches and is low demanding in terms of processing time and memory requirements, therefore making it especially appealing in the surveillance domain.
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