Inlämning av Examensarbete / Submission of Thesis

Soheil Ghadami , pp. 51. ING/School of Engineering, 2011.

The work

Författare / Author: Soheil Ghadami
soheil.ghadami@gmail.com
Titel / Title: The Evaluation of the Gaussian Mixture Probability Hypothesis Density Filter Applied in a Stereo Vision System
Abstrakt Abstract:

In this thesis, the performance of the Gaussian Mixture Probability Hypothesis Density (GM-PHD) filter using a pair of stereo vision system to overcome label discontinuity and robust tracking in an Intelligent Vision Agent System (IVAS) is evaluated. This filter is widely used in multiple-target tracking applications such as surveillance, human tracking, radar, and etc. A pair of cameras is used to get the left and right image sequences in order to extract 3-D coordinates of targets’ positions in the real world scene. The 3-D trajectories of targets are tracked by GM-PHD filter. Many tracking algorithms fail to simultaneously maintain stability of tracking and label continuity of targets, when one or more targets are hidden for a while to camera’s view. The GM-PHD filter performs well in tracking multiple targets; however, the label continuity is not maintained satisfactorily in some situations such as full occlusion and crossing targets. In this project, the label continuity of targets is guaranteed by a new method of labeling, and the simulation results show satisfactory results. A random walk motion is used to validate the ability of the algorithm in tracking and maintaining targets’ labels. In order to evaluate the performance of the GM-PHD filter, a 3-D spatial test motion model is introduced. Here, the two target trajectories are generated in a way that either occlusion or crossing occurs in some time intervals. Then, the two key parameters, angular velocity and motion speed, are used to evaluate the performance of algorithm. The simulation results for two moving targets in occlusion and crossing show that the proposed system not only robustly tracks them, but also maintains the label continuity of two targets.

Ämnesord / Subject: Signalbehandling - Signal Processing
Telekommunikation - Telecommunications
Mathematics\Probability and Statistics
Nyckelord / Keywords: Gaussian Mixture probability Hypothesis Density Filter, Human Motion Tracking, Data Association, Occlusion Handling, Stereo Vision

Publication info

Dokument id / Document id: houn-8kdrqb
Program:/ Programme Magisterprogram i Elektroteknik / Master of Science in Electrical Engineering
Registreringsdatum / Date of registration: 07/20/2011
Uppsatstyp / Type of thesis: Masterarbete/Master's Thesis (120 credits)

Context

Handledare / Supervisor: Wlodek Kulesza
wlodek.kulesza@bth.se
Examinator / Examiner: Wlodek Kulesza
Organisation / Organisation: Blekinge Institute of Technology
Institution / School: ING/School of Engineering

+46 455 38 50 00

Files & Access

Bifogad uppsats fil(er) / Files attached: bth2011ghadami.pdf (1458 kB, öppnas i nytt fönster)