Pedestrian tracking from a moving host using corner points

Authors:
Mirko Meuter;Dennis Müller;Stefan Müller-Schneiders;Uri Iurgel;Su-Birm Park;Anton Kummert
Affiliations:
Faculty of Electrical Information and Media Engineering, University of Wuppertal, Wuppertal, Germany;Delphi Delco Electronics Europe, Advanced Engineering, Wuppertal, Germany;Delphi Delco Electronics Europe, Advanced Engineering, Wuppertal, Germany;Delphi Delco Electronics Europe, Advanced Engineering, Wuppertal, Germany;Delphi Delco Electronics Europe, Advanced Engineering, Wuppertal, Germany;Faculty of Electrical Information and Media Engineering, University of Wuppertal, Wuppertal, Germany
Venue:
ISVC'07 Proceedings of the 3rd international conference on Advances in visual computing - Volume Part II
Year:
2007

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Abstract

We present a new camera based algorithm to track pedestrians from a moving host using corner points. The algorithm can handle partial shape variations and the set of point movement vectors allows to estimate not only translation but also scaling. The algorithm works as follows: Corner points are extracted within a bounding box, where the pedestrian is detected in the current frame and in a search region in the next frame. We compare the local neighbourhood of points to find point correspondences using an improved method. The point correspondences are used to estimate the object movement using a translation scale model. A fast iterative outlier removal strategy is employed to remove single false point matches. A correction step is presented to correct the position estimate. The step uses the accumulated movement of each point over time to detect outliers that can not be found using inter-frame motion vectors. First tests indicate a good performance of the presented tracking algorithm, which is improved by the presented correction step.