Chieh-Chih Wang

Interacting Object Tracking in Crowded Urban Areas

Chieh-Chih Wang, Tzu-Chien Lo and Shao-Wen Yang

Abstract

Tracking in crowded urban areas is a daunting task. High crowdedness causes challenging data association problems. Different motion patterns from a wide variety of moving objects make motion modeling difficult. Accompanying with traditional motion modeling techniques, this paper introduces a scene interaction model and a neighboring object interaction model to respectively take long-term and short-term interactions between the tracked objects and its surroundings into account. With the use of the interaction models, anomalous activity recognition is accomplished easily. In addition, move-stop hypothesis tracking is applied to deal with move-stop-move maneuvers. All these approaches are seamlessly intergraded under the variable-structure multiple-model estimation framework. The proposed approaches have been demonstrated using data from a laser scanner mounted on the PAL1 robot at a crowded intersection. Interacting pedestrians, bicycles, motorcycles, cars and trucks are successfully tracked in difficult situations with occlusion.

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Bibtex

@inproceedings{Wang07a,
    author = {Chieh-Chih Wang and Tzu-Chien Lo and Shao-Wen Yang},
    title = {Interacting Object Tracking in Crowded Urban Areas},
    booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'07)},
    address = {Roma, Italy},
    month = {April},
    year = {2007},
}