Real-Time Multi-Person Tracking with Time-Constrained Detection

Mitzel, Dennis; Sudowe, Patrick; Leibe, Bastian

doi:10.5244/c.25.104

Cited by 13 publications

(7 citation statements)

References 23 publications

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“…A method to calibrate a SVS outdoors has already been published elsewhere by Dennis Mitzel et al [27]. Therefore, this work proposes a mechanism to run a SVS based on the detection and tracking of an object.…”

Section: The Proposed Mechanism For Improving Stereo Vision Systemmentioning

confidence: 98%

A mechanism to improve Stereo Vision Systems in automated heterogeneous platoons

Alfraheed¹,

Droge²,

Klingender³

et al. 2012

2012 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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Due to their low price and good quality, Stereo Vision Systems (SVS) are recently considered as a key factor to gather actual information about the object of interest. Today, automated highway systems (AHS) for urban and highway environment were developed without the use of a stereo vision system. In future, the application of AHS should be extended to unstructured environments (e.g. desert) and be adapted to heterogeneous vehicles. In this context, the stereo vision system could enable the platoon to be independent from environmental structure (e.g. lane markings) through its ability to detect, track, locate and recognize heterogeneous vehicles. So far, the need for high accuracy prevents SVS to be applied in automated heterogeneous platoon. In this paper a mechanism towards this is presented, where some behavioral properties have to be satisfied in terms of unstructured environment and heterogeneous platoons. Within a heterogeneous platoon, the back view of a preceding vehicle (BVPV) is considered as a reference point for the lateral and longitudinal control. The key idea of the proposed mechanism is to confirm that the distance of the BVPV can be extracted without depending on the movement of the preceding vehicle. Furthermore, the proposed mechanism has to ensure that features extracted from the back view are suitable to implement successfully the calibration process at around 10m distance. With the proposed SVS mechanism some of behavioral properties have to be satisfied in terms of unstructured environment and AHS. These properties are reliability, performance and robustness. Compared to other methods which use a SVS, the proposed mechanism distinguishes itself through adapting to dynamic environment and extracting the necessary features for the calibration process.

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Section: The Proposed Mechanism For Improving Stereo Vision Systemmentioning

confidence: 98%

A mechanism to improve Stereo Vision Systems in automated heterogeneous platoons

Alfraheed¹,

Droge²,

Klingender³

et al. 2012

2012 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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“…Furthermore, evaluation is often done on pre-captured data, and real-time performance retreats into the background while the main focus concentrates on detection quality. On the other hand, real-time approaches usually apply very fast detectors [4], [5], a tracking-by-detection scheme [16] and special hardware, like stereo-cameras and dedicated GPUs, which are unfortunately not available on our mobile robot platform [1]. Real-time indoor approaches use thermal cameras [10] or focus on single poses and person recognition [9].…”

Section: Related Workmentioning

confidence: 99%

People Tracking on a Mobile Companion Robot

Volkhardt

Weinrich

Groß

2013

2013 IEEE International Conference on Systems, Man, and Cybernetics

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Developing methods for people tracking on mobile robots is of great interest to engineers and scientists alike. Plenty of research is focused on pedestrian tracking in public areas. Yet, fewer work exists on practical people tracking in home environments with non-static cameras. This paper presents a realtime people tracking system for mobile robots that filters asynchronous, multi-modal detections using a Kalman filter for each person. It allows for upright and sitting pose people tracking in home environments. We evaluate the performance of the tracking system using different detection modalities and compared it to state-of-the-art people detection methods. Evaluation was done on a newly collected indoor data set which we made publicly available for comparison and benchmarking.

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“…Some approaches take advantage of this fact and propose the depth-based detectors [21]. Also, some other approaches combine the appearance based features and depth-maps and propose RGB-D based detectors [13], [22].…”

Section: A Related Workmentioning

confidence: 99%

Real-time RGB-D based template matching pedestrian detection

Jafari

Yang

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Pedestrian detection is one of the most popular topics in computer vision and robotics. Considering challenging issues in multiple pedestrian detection, we present a real-time depth-based template matching people detector. In this paper, we propose different approaches for training the depth-based template. We train multiple templates for handling issues due to various upper-body orientations of the pedestrians and different levels of detail in depth-map of the pedestrians with various distances from the camera. And, we take into account the degree of reliability for different regions of sliding window by proposing the weighted template approach. Furthermore, we combine the depth-detector with an appearance based detector as a verifier to take advantage of the appearance cues for dealing with the limitations of depth data. We evaluate our method on the challenging ETH dataset sequence. We show that our method outperforms the state-of-the-art approaches.

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Real-Time Multi-Person Tracking with Time-Constrained Detection

Cited by 13 publications

References 23 publications

A mechanism to improve Stereo Vision Systems in automated heterogeneous platoons

A mechanism to improve Stereo Vision Systems in automated heterogeneous platoons

People Tracking on a Mobile Companion Robot

Real-time RGB-D based template matching pedestrian detection

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