IEEE Transactions on Pattern Analysis and Machine Intelligence
The Markov chain Monte Carlo method: an approach to approximate counting and integration
Approximation algorithms for NP-hard problems
W4: Real-Time Surveillance of People and Their Activities
IEEE Transactions on Pattern Analysis and Machine Intelligence
Probabilistic Data Association Methods for Tracking Complex Visual Objects
IEEE Transactions on Pattern Analysis and Machine Intelligence
Object Tracking with Bayesian Estimation of Dynamic Layer Representations
IEEE Transactions on Pattern Analysis and Machine Intelligence
Image Segmentation by Data-Driven Markov Chain Monte Carlo
IEEE Transactions on Pattern Analysis and Machine Intelligence
Mobile Robot Localization and Map Building: A Multisensor Fusion Approach
Mobile Robot Localization and Map Building: A Multisensor Fusion Approach
Contour Tracking by Stochastic Propagation of Conditional Density
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume I - Volume I
Maintaining Multi-Modality through Mixture Tracking
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Multitarget Tracking with Split and Merged Measurements
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
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
MCMC-Based Particle Filtering for Tracking a Variable Number of Interacting Targets
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
Probabilistic data association methods in visual tracking of groups
CVPR'04 Proceedings of the 2004 IEEE computer society conference on Computer vision and pattern recognition
Learning and Inferring Motion Patterns using Parametric Segmental Switching Linear Dynamic Systems
International Journal of Computer Vision
3D Tracking by Catadioptric Vision Based on Particle Filters
RoboCup 2007: Robot Soccer World Cup XI
Mean field approach for tracking similar objects
Computer Vision and Image Understanding
Occlusion reasoning for tracking multiple people
IEEE Transactions on Circuits and Systems for Video Technology
Adaptive pyramid mean shift for global real-time visual tracking
Image and Vision Computing
Tracking groups of people with a multi-model hypothesis tracker
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Gaussian Approximation for Tracking Occluding and Interacting Targets
Journal of Mathematical Imaging and Vision
Temporal accumulation of oriented visual features
Journal of Visual Communication and Image Representation
Place-dependent people tracking
International Journal of Robotics Research
Impulsive data association with an unknown number of targets
Proceedings of the 14th international conference on Hybrid systems: computation and control
Editors Choice Article: Tracking highly correlated targets through statistical multiplexing
Image and Vision Computing
Robust real-time multiple target tracking
ACCV'09 Proceedings of the 9th Asian conference on Computer Vision - Volume Part II
Crowd flow characterization with optimal control theory
ACCV'09 Proceedings of the 9th Asian conference on Computer Vision - Volume Part II
Journal of Field Robotics
ACM Transactions on Intelligent Systems and Technology (TIST) - Special section on twitter and microblogging services, social recommender systems, and CAMRa2010: Movie recommendation in context
Moving object detection with laser scanners
Journal of Field Robotics
Semantic world modeling using probabilistic multiple hypothesis anchoring
Robotics and Autonomous Systems
Game-theoretical occlusion handling for multi-target visual tracking
Pattern Recognition
Multi-target tracking on confidence maps: An application to people tracking
Computer Vision and Image Understanding
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In several multitarget tracking applications, a target may return more than one measurement per target and interacting targets may return multiple merged measurements between targets. Existing algorithms for tracking and data association, initially applied to radar tracking, do not adequately address these types of measurements. Here, we introduce a probabilistic model for interacting targets that addresses both types of measurements simultaneously. We provide an algorithm for approximate inference in this model using a Markov chain Monte Carlo (MCMC)-based auxiliary variable particle filter. We Rao-Blackwellize the Markov chain to eliminate sampling over the continuous state space of the targets. A major contribution of this work is the use of sparse least squares updating and downdating techniques, which significantly reduce the computational cost per iteration of the Markov chain. Also, when combined with a simple heuristic, they enable the algorithm to correctly focus computation on interacting targets. We include experimental results on a challenging simulation sequence. We test the accuracy of the algorithm using two sensor modalities, video, and laser range data. We also show the algorithm exhibits real time performance on a conventional PC.