Interacting object tracking in crowded urban areas

Chieh-Chih Wang*, Tzu Chien Lo, Shao Wen Yang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages4626-4631
Number of pages6
DOIs
StatePublished - 27 Nov 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: 10 Apr 200714 Apr 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period10/04/0714/04/07

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  • Cite this

    Wang, C-C., Lo, T. C., & Yang, S. W. (2007). Interacting object tracking in crowded urban areas. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07 (pp. 4626-4631). [4209810] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2007.364192