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
A novel system for tracking pedestrians using multiple single-row laser-range scanners
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Pedestrian Detection and Tracking Using Three-dimensional LADAR Data
International Journal of Robotics Research
Pedestrian detection and tracking in an urban environment using a multilayer laser scanner
IEEE Transactions on Intelligent Transportation Systems
A hierarchical estimator for object tracking
EURASIP Journal on Advances in Signal Processing - Special issue on video analysis for human behavior understanding
Moving object detection with laser scanners
Journal of Field Robotics
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Laser-based people tracking systems have been developed for mobile robotic, and intelligent surveillance areas. Existing systems rely on laser point clustering method to extract object locations. However, for dense crowd tracking, laser points of different objects are often interlaced and undistinguishable due to measurement noise and they can not provide reliable features. It causes current systems quite fragile and unreliable. This paper presents a novel and robust laser-based dense crowd tracking method. Firstly, we introduce a stable feature extraction method based on accumulated distribution of successive laser frames. With this method, the noise that generates split and merged measurements is smoothed away and the pattern of rhythmic swing legs is utilized to extract each leg of persons. And then, a region coherency property is introduced to construct an efficient measurement likelihood model. The final tracker is based on the combination of independent Kalman filter and Rao-Blackwellized Monte Carlo data association filter (RBMC-DAF). In real experiments, we obtain raw data from multiple registered laser scanners, which measure two legs for each people on the height of 16cm from horizontal ground. Evaluation with real data shows that the proposed method is robust and effective. It achieves a significant improvement compared with existing laser-based trackers. In addition, the proposed method is much faster than previous works, and can overcome tracking errors resulted from mixed data of two closely situated persons.