NDLI: Vision-based bicycle detection and tracking using a deformable part model and an EKF algorithm

Content Provider	IEEE Xplore Digital Library
Author	Hyunggi Cho Rybski, P.E. Wende Zhang
Copyright Year	2010
Description	Author affiliation: Robotics Institute, Carnegie Mellon University, 5000, Forbes Ave., Pittsburgh, PA 15213, USA (Hyunggi Cho; Rybski, P.E.) \|\| Electrical and Controls Integration Lab, General Motors R&D, 30500, Mound Rd, Warren, MI 48092, USA (Wende Zhang)
Abstract	Bicycles that share the road with intelligent vehicles present particular challenges for automated perception systems. Bicycle detection is important because bicycles share the road with vehicles and can move at comparable speeds in urban environments. From a computer vision standpoint, bicycle detection is challenging as bicycle's appearance can change dramatically between viewpoints and a person riding on the bicycle is a non-rigid object. In this paper, we present a vision-based framework to detect and track bicycles that takes into account these issues. A mixture model of multiple viewpoints is defined and trained via a Support Vector Machine (SVM) to detect bicycles under a variety of circumstances. Each component of the model uses a part-based representation and known geometric context is used to improve overall detection efficiency. An extended Kalman filter (EKF) is used to estimate the position and velocity of the bicycle in vehicle coordinates. We demonstrate the effectiveness of this approach through a series of experiments run on video data of moving bicycles captured from a vehicle-mounted camera
Starting Page	1875
Ending Page	1880
File Size	1083856
Page Count	6
File Format	PDF
ISBN	9781424476572
ISSN	21530017
e-ISBN	9781424476596
DOI	10.1109/ITSC.2010.5624993
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-09-19
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Bicycles Tracking Mathematical model Detectors Cameras Support vector machines
Content Type	Text
Resource Type	Article

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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
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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
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