eprintid: 7270
rev_number: 22
eprint_status: archive
userid: 314
dir: disk0/00/00/72/70
datestamp: 2011-05-27 11:43:59
lastmod: 2016-04-20 16:27:08
status_changed: 2011-05-27 11:43:59
type: conference_item
metadata_visibility: show
item_issues_count: 0
creators_name: Blanco Adán, Carlos Roberto del
creators_name: Jaureguizar Núñez, Fernando
creators_name: García Santos, Narciso
creators_id: cda@gti.ssr.upm.es
creators_id: fjn@gti.ssr.upm.es
creators_id: narciso@gti.ssr.upm.es
title: Visual tracking of multiple interacting objects through Rao-Blackwellized data association particle filtering
publisher: IEEE
rights: by-nc-nd
ispublished: pub
subjects: telecomunicaciones
subjects: robotica
subjects: informatica
full_text_status: public
pres_type: paper
keywords: Atmospheric measurements , Clutter , Detectors , Particle filters , Particle measurements , Position measurement , Radar tracking
abstract: A multiple object visual tracking framework is presented, which is able to manage complex object interactions, missing detections and clutter. The main contribution is the ability to deal with complex situations in which the interacting objects can change their dynamics while they are occluded. This is achieved by explicitly estimating putative locations of the occluded objects. The tracking is modeled by a Rao-Blackwellized Data Association Particle Filter (RBDAPF), which has a tractable substructure that allows to analytically compute the object positions, while the object-measurement associations are approximated by Particle Filtering. Besides improving the accuracy, this filter decomposition reduces the computational cost, since the complexity with the number of objects becomes linear instead of exponential. The Particle Filter efficiently manages the measurements from visible and occluded objects, the clutter, and missing measurements to estimate the correct data associations that lead to a robust tracking. Experimental results on surveillance videos show that the proposed RBDAPF framework is able to track multiple interacting objects in complex situations.
date_type: published
date: 2010-12-03
pages: 4
event_title: 17th IEEE International Conference on Image Processing (ICIP)
event_location: Hong Kong
event_dates: 26-29 de Septiembre del  2010
event_type: conference
institution: Telecomunicacion
department: Senales
refereed: TRUE
isbn: 978-1-4244-7992-4
book_title: 17th IEEE International Conference on Image Processing (ICIP)
official_url: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5653411
citation:   Blanco Adán, Carlos Roberto del and Jaureguizar Núñez, Fernando and García Santos, Narciso  (2010).  Visual tracking of multiple interacting objects through Rao-Blackwellized data association particle filtering.  In: "17th IEEE International Conference on Image Processing (ICIP)", 26-29 de Septiembre del 2010, Hong Kong. ISBN 978-1-4244-7992-4.    
document_url: https://oa.upm.es/7270/1/2010_Visual_tracking_of_multiple_interacting_objects_through_Rao-Blackwellized_data_association_particle_filtering.pdf