NDLI: Feature-Based Probabilistic Data Association (FBPDA) for visual multi-target detection and tracking under occlusions and split and merge effects

Content Provider	IEEE Xplore Digital Library
Author	Grinberg, M. Ohr, F. Beyerer, J.
Copyright Year	2009
Description	Author affiliation: Fraunhofer Institute for Information and Data Processing (Fraunhofer IITB), Fraunhofer Str. 1, 76131 Karlsruhe, Germany (Grinberg, M.; Ohr, F.; Beyerer, J.)
Abstract	Uncertainties in the sensor data such as measurement noise, false detections caused by clutter, as well as merged, split, incomplete or missed detections due to a sensor malfunction or occlusions (both due to the limited sensor field of view and objects in the scene) make multi-target tracking a very complicated task. Thus one of the big challenges is track management and correct data association between detections and tracks. In this contribution we present an algorithm for visual detection and tracking of multiple extended targets under occlusions and split and merge effects. Unlike most of the state-of-the-art approaches we utilize low-level information integrating it in a unified approach based on a threshold-free probabilistic conception. The introduced scheme makes it possible to utilize information about composition of the measurements gained through tracking of dedicated feature points in the image and resolves data association ambiguities in a soft decision using a globally optimal probabilistic data association approach. Beside existence evolution consideration we also exploit the spatial and temporal relationship between stably tracked points and tracked objects, which along with observability analysis, allows us for reconstruction of compatible measurements and thus correct track update even in cases of splits, merges and partial occlusions of the tracked targets.
Starting Page	1
Ending Page	8
File Size	1862205
Page Count	8
File Format	PDF
ISBN	9781424455195
DOI	10.1109/ITSC.2009.5309694
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-04
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Target tracking Radar tracking Object detection Observability Sensor systems Robustness Clutter Intelligent transportation systems Intelligent sensors Vehicles occlusion handling Multitarget Tracking (MTT) data association split and merge handling stereo video environment perception lateral vehicle perception vehicle side monitoring side-looking cameras 6D vision
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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