Fusion-based multi-target tracking and localization for intelligent visual surveillance systems

Haroun Rababaah; Amir Shirkhodaie

doi:10.1117/12.777783

16 April 2008 Fusion-based multi-target tracking and localization for intelligent surveillance systems

Haroun Rababaah, Amir Shirkhodaie

Proceedings Volume 6943, Sensors, and Command, Control, Communications, and Intelligence (C3I) Technologies for Homeland Security and Homeland Defense VII; 694313 (2008) https://doi.org/10.1117/12.777783
Event: SPIE Defense and Security Symposium, 2008, Orlando, Florida, United States

Abstract

In this paper, we have presented two approaches addressing visual target tracking and localization in complex urban environment. The two techniques presented in this paper are: fusion-based multi-target visual tracking, and multi-target localization via camera calibration. For multi-target tracking, the data fusion concepts of hypothesis generation/evaluation/selection, target-to-target registration, and association are employed. An association matrix is implemented using RGB histograms for associated tracking of multi-targets of interests. Motion segmentation of targets of interest (TOI) from the background was achieved by a Gaussian Mixture Model. Foreground segmentation, on other hand, was achieved by the Connected Components Analysis (CCA) technique. The tracking of individual targets was estimated by fusing two sources of information, the centroid with the spatial gating, and the RGB histogram association matrix. The localization problem is addressed through an effective camera calibration technique using edge modeling for grid mapping (EMGM). A two-stage image pixel to world coordinates mapping technique is introduced that performs coarse and fine location estimation of moving TOIs. In coarse estimation, an approximate neighborhood of the target position is estimated based on nearest 4-neighbor method, and in fine estimation, we use Euclidean interpolation to localize the position within the estimated four neighbors. Both techniques were tested and shown reliable results for tracking and localization of Targets of interests in complex urban environment.

Citation Download Citation

Haroun Rababaah and Amir Shirkhodaie "Fusion-based multi-target tracking and localization for intelligent surveillance systems", Proc. SPIE 6943, Sensors, and Command, Control, Communications, and Intelligence (C3I) Technologies for Homeland Security and Homeland Defense VII, 694313 (16 April 2008); https://doi.org/10.1117/12.777783

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