TY - GEN
T1 - Interacting object tracking in crowded urban areas
AU - Wang, Chieh-Chih
AU - Lo, Tzu Chien
AU - Yang, Shao Wen
PY - 2007/11/27
Y1 - 2007/11/27
N2 - Tracking in crowded urban areas is a daunting task. High crowdedness causes challenging data association problems. Different motion patterns from a wide variety of moving objects make motion modeling difficult. Accompanying with traditional motion modeling techniques, this paper introduces a scene interaction model and a neighboring object interaction model to respectively take long-term and short-term interactions between the tracked objects and its surroundings into account. With the use of the interaction models, anomalous activity recognition is accomplished easily. In addition, movestop hypothesis tracking is applied to deal with move-stopmove maneuvers. AU these approaches are seamlessly intergraded under the variable-structure multiple-model estimation framework. The proposed approaches have been demonstrated using data from a laser scanner mounted on the PALI robot at a crowded intersection. Interacting pedestrians, bicycles, motorcycles, cars and trucks are successfully tracked in difficult situations with occlusion.
AB - Tracking in crowded urban areas is a daunting task. High crowdedness causes challenging data association problems. Different motion patterns from a wide variety of moving objects make motion modeling difficult. Accompanying with traditional motion modeling techniques, this paper introduces a scene interaction model and a neighboring object interaction model to respectively take long-term and short-term interactions between the tracked objects and its surroundings into account. With the use of the interaction models, anomalous activity recognition is accomplished easily. In addition, movestop hypothesis tracking is applied to deal with move-stopmove maneuvers. AU these approaches are seamlessly intergraded under the variable-structure multiple-model estimation framework. The proposed approaches have been demonstrated using data from a laser scanner mounted on the PALI robot at a crowded intersection. Interacting pedestrians, bicycles, motorcycles, cars and trucks are successfully tracked in difficult situations with occlusion.
UR - http://www.scopus.com/inward/record.url?scp=36349014914&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2007.364192
DO - 10.1109/ROBOT.2007.364192
M3 - Conference contribution
AN - SCOPUS:36349014914
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4626
EP - 4631
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -