Robust Pedestrian Tracking Using Interactive Multiple Model Particle Filter and Feature Matching

Zhen Chang Chen, Chih Wei Tang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Pedestrian tracking with a single motion model and a single cue cannot be robust against combination of changes of target motion and appearance, caused by either static or dynamic changes in surrounding environments. Different from previous work, this paper proposes to refer to both multiple motion models and cues to improve accuracy of single pedestrian tracking. By integrating the compensated motion model into model filtering of interacting multiple model particle filter (IMMPF) and updating mode probabilities using the state with the maximum color based likelihood weight, the interacting stage of IMMPF generates more accurate approximation of the mixed a priori probability distribution of the target state. Within the search window centering at the predicted state of the constant velocity (CV) model of IMMPF, feature matching of scale- and rotation-invariant feature descriptors helps locate the target. Experimental results show that the proposed scheme is robust against the change of target motion, occlusion, rotation, scaling, and illumination variations. The average RMSE and overlap ratio of the proposed scheme significantly outperforms color based IMMPF using compensated motion model and fast L1-tracker.

Original languageEnglish
Title of host publicationICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages480-485
Number of pages6
ISBN (Electronic)9781538670668
DOIs
StatePublished - 11 Jan 2019
Event3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018 - Singapore, Singapore
Duration: 18 Jul 201820 Jul 2018

Publication series

NameICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics

Conference

Conference3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018
Country/TerritorySingapore
CitySingapore
Period18/07/1820/07/18

Keywords

  • feature matching
  • interacting multiple model particle filter
  • motion prediction
  • occlusion
  • pedestrian tracking

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