Evaluation of the GM-PHD filter for multi-target tracking with a stereo vision system
| Document type: | Conference Papers |
|---|---|
| Peer reviewed: | Yes |
| Author(s): | Jiandan Chen, Soheil Ghadami, Wlodek Kulesza |
| Title: | Evaluation of the GM-PHD filter for multi-target tracking with a stereo vision system |
| Conference name: | IEEE International Instrumentation and Measurement Technology Conference, I2MTC |
| Year: | 2011 |
| Pagination: | 1581-1586 |
| ISBN: | 978-142447935-1 |
| Publisher: | IEEE |
| City: | Binjiang, Hangzhou |
| URI/DOI: | 10.1109/IMTC.2011.5944129 |
| ISI number: | 000297171900318 |
| Organization: | Blekinge Institute of Technology |
| Department: | School of Engineering - Dept. of Electrical Engineering (Sektionen för ingenjörsvetenskap - Avd. för elektroteknik) School of Engineering S-371 79 Karlskrona +46 455 38 50 00 http://www.bth.se/ing/ |
| Language: | English |
| Abstract: | This paper evaluates the performance of the Gaussian Mixture Probability Hypothesis Density (GM-PHD) filter for tracking multiple targets in an intelligent vision system. A stereo vision camera is used to get the left and right image sequences in order to extract 3-D coordinates of the targets' positions in the real world scene. The 3-D trajectories of the targets are tracked by a GM-PHD filter. Moreover, the label continuity of the targets is guaranteed by a new method of labeling. Motion speed and angular velocity are proposed for the evaluation of the accuracy and label continuity of the filter in the implemented 3-D test motion model. The simulation results for two moving targets show that the proposed system not only robustly tracks them, but also maintains the label continuity of the two targets. |
| Subject: | Spatial Planning\General |
| Keywords: | Performance Evaluation, Probability Hypothesis Density, Stereo Vision, Trajectory Tracking |
