CONDENSATION—Conditional Density Propagation forVisual Tracking
International Journal of Computer Vision
A Flexible New Technique for Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Using Particles to Track Varying Numbers of Interacting People
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
Human Tracking by Particle Filtering Using Full 3D Model of Both Target and Environment
ICPR '06 Proceedings of the 18th International Conference on Pattern Recognition - Volume 02
EURASIP Journal on Applied Signal Processing
Multicamera People Tracking with a Probabilistic Occupancy Map
IEEE Transactions on Pattern Analysis and Machine Intelligence
Tracking multiple humans in crowded environment
CVPR'04 Proceedings of the 2004 IEEE computer society conference on Computer vision and pattern recognition
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We present a solution to the people tracking problem using a monocular vision approach from a bird's eye view and Sequential Monte-Carlo Filtering. Each tracked human is represented by an individual Particle Filter using spheroids as a three-dimensional approximation to the shape of the upstanding human body. We use the bearings-only model as the state update function for the particles. Our measurement likelihood function to estimate the probability of each particle is imitating the image formation process. This involves also partial occlusion by dynamic movements from other humans within neighbored areas. Due to algorithmic optimization the system is real-time capable and therefore not only limited to surveillance or human motion analysis. It could rather be used for Human-Computer-Interaction (HCI) and indoor location. To demonstrate this capabilities we evaluated the accuracy of the system and show the robustness in different levels of difficulty.