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Visual end-effector tracking using a 3D model-aided particle filter for humanoid robot platforms [article]

Claudio Fantacci, Ugo Pattacini, Vadim Tikhanoff, Lorenzo Natale
2017 arXiv   pre-print
This paper addresses recursive markerless estimation of a robot's end-effector using visual observations from its cameras.  ...  The problem is formulated into the Bayesian framework and addressed using Sequential Monte Carlo (SMC) filtering.  ...  Recursive Bayesian estimation is a well known tool for tracking an object/objects by fusing measurements from sensors [9] - [12] .  ... 
arXiv:1703.04771v2 fatcat:qsh3zm3dwzforojf4oy5kpvdd4

An Adaptive Bayesian Technique for Tracking Multiple Objects [chapter]

Pankaj Kumar, Michael J. Brooks, Anton van den Hengel
2007 Lecture Notes in Computer Science  
In this paper we present a tracker based on Bayesian estimation, which is relatively robust to object appearance change, and can track multiple targets simultaneously in real time.  ...  However, they are susceptible to failure when the challenge is to track multiple objects that undergo appearance change to due to factors such as variation in illumination and object pose.  ...  Conclusion An enhanced particle filter system was developed for robust, multiple-object tracking.  ... 
doi:10.1007/978-3-540-77046-6_81 fatcat:u4wvtfd6zzcnzp5hgr3uq5pfea

Pose estimation of multiple people using contour features from multiple laser range finders

Takashi Matsumoto, Masamichi Shimosaka, Hiroshi Noguchi, Tomomasa Sato, Taketoshi Mori
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This method estimates human pose by using these features in the Bayesian filtering framework. Moreover, we develop a new particle filter framework with two transition models and two resampling steps.  ...  Laser based tracking systems have been developed for mobile robotics and intelligent surveillance areas. Existing systems estimate only human positions.  ...  In the past, human pose estimation from camera image sequences has been most proposed.  ... 
doi:10.1109/iros.2009.5354135 dblp:conf/iros/MatsumotoSNSM09 fatcat:575rcbkmdnh37osj7gm2s5g6cq

GEOMETRIC DEEP PARTICLE FILTER FOR MOTORCYCLE TRACKING: DEVELOPMENT OF INTELLIGENT TRAFFIC SYSTEM IN JAKARTA

Alexander A S Gunawan, Wisnu Jatmiko
2015 International Journal on Smart Sensing and Intelligent Systems  
This paper is presented our proposed tracker which called as Geometric Deep Particle Filter (GDPF) for tracking motorcycle using camera.  ...  With the above considerations, we establish research which aimed to develop enabling technology especially in here for tracking motorcycle using camera.  ...  model of Bayesian model of tracking problem can be seen in Figure 6 : 6 Bayesian model of tracking problem Solving the recursive Bayesian solution in equations model of Bayesian model of tracking problem  ... 
doi:10.21307/ijssis-2017-766 fatcat:dz3vlxebgfaolij3siwohtx2ti

Single camera pose estimation using Bayesian filtering and Kinect motion priors [article]

Michael Burke, Joan Lasenby
2014 arXiv   pre-print
We combine this prior information with a random walk transition model to obtain an upper body model, suitable for use within a recursive Bayesian filtering framework.  ...  The suggested model is designed with analytical tractability in mind and we show that the pose tracking can be Rao-Blackwellised using the mixture Kalman filter, allowing for computational efficiency while  ...  Bayesian filtering for human pose estimation Assuming the human body can be modelled as an unobserved Markov process with a set of joint states x t at time t, recursive Bayesian estimation allows states  ... 
arXiv:1405.5047v2 fatcat:u4zkpuomtzeoddel4bmihrcdg4

Multi-view Human Motion Capture with an Improved Deformation Skin Model

Yifan Lu, Lei Wang, Richard Hartley, Hongdong Li, Chunhua Shen
2008 2008 Digital Image Computing: Techniques and Applications  
with the computer animation standard, 2) image segmentation by using Gaussian mixture static background subtraction and 3) non-linear dynamic temporal tracking with Annealed Particle Filter.  ...  The proposed work establishes a skeleton based markerless human motion capture framework, comprising of 1) an improved deformation skin model suitable for markerless motion capture while it is compliant  ...  Acknowledgement The authors would like to thank Balan and Sigal at Brown University for providing access to their dataset and answering the questions.  ... 
doi:10.1109/dicta.2008.14 dblp:conf/dicta/LuWHLS08 fatcat:rhdfmlq7s5epxhf5r7y5u7dktu

Face Recognition in Multi Camera Network with Sh Feature

R. Sumathy
2015 International Journal of Modern Education and Computer Science  
The traditional approaches handle the pose estimation explicitly ,the proposed work will handle the multiple views of the poses .For a given set of multi view video sequences we use particle filter to  ...  The main aim of this paper is to handle different pose variations in multi camera network and recognizing face from those videos.  ...  allows to track targets on the ground plane using multiple measurements in the image plane taken from various cameras.  ... 
doi:10.5815/ijmecs.2015.05.08 fatcat:4lxqput6o5d7hinl5qfwo4qtfm

Pedestrian Models for Autonomous Driving Part I: Low-Level Models, From Sensing to Tracking

Fanta Camara, Nicola Bellotto, Serhan Cosar, Dimitris Nathanael, Matthias Althoff, Jingyuan Wu, Johannes Ruenz, Andre Dietrich, Charles Fox
2020 IEEE transactions on intelligent transportation systems (Print)  
This self-contained Part I covers the lower levels of this stack, from sensing, through detection and recognition, up to tracking of pedestrians.  ...  Technologies at these levels are found to be mature and available as foundations for use in high-level systems, such as behaviour modelling, prediction and interaction control.  ...  [81] proposed a variational Bayesian PHD filter with deep learning update to track multiple persons. In [57] , a PHD filter is used to track in realtime multiple people in a crowded environment.  ... 
doi:10.1109/tits.2020.3006768 fatcat:awa5dgk4rbazteetyyqrndbgxq

Hierarchical audio-visual cue integration framework for activity analysis in intelligent meeting rooms

Shankar T. Shivappa, Mohan M. Trivedi, Bhaskar D. Rao
2009 2009 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops  
The system performs the tasks of person tracking, head pose estimation, beamforming, speaker ID and speech recognition using audio and visual cues.  ...  We exploit the fact that the output of one kind of human activity analysis task contains valuable information for another such block and by interconnecting them, a robust system results.  ...  This makes the tracking of humans necessary. In this paper we restrict ourselves to the problem of tracking multiple persons in an indoor space equipped with multiple cameras and microphones.  ... 
doi:10.1109/cvprw.2009.5204224 dblp:conf/cvpr/ShivappaTR09 fatcat:wywnweppbfahhbalu4wh3hzbri

Intelligent visual surveillance — A survey

In Su Kim, Hong Seok Choi, Kwang Moo Yi, Jin Young Choi, Seong G. Kong
2010 International Journal of Control, Automation and Systems  
The second part reviews widearea surveillance techniques based on the fusion of multiple visual sensors, camera calibration and cooperative camera systems.  ...  In wide area surveillance control task, multiple cameras or agents are controlled in a cooperative manner to monitor tagged objects in motion.  ...  In this architecture, the low level Bayesian network estimates the human body part poses, and the high level Bayesian network estimates the overall body poses.  ... 
doi:10.1007/s12555-010-0501-4 fatcat:pdv6jpfqfnfiraqe4ngxzvywvu

Survey on Video Analysis of Human Walking Motion

S. Nissi Paul, Y. Jayanta Singh
2014 International Journal of Signal Processing, Image Processing and Pattern Recognition  
This paper presents a survey of different methodologies used for human walking motion analysis, approaches used for human detection or segmentation, various tracking methods, approaches for pose estimation  ...  The task of analyzing human walking can be divided into three distinct subtaskshuman detection or segmentation, motion tracking and walking pose analysis.  ...  Examples of Tracking The most widely used mathematical tools for tracking are-Kalman Filter [96] , the Condensation algorithm [97] , Dynamic Bayesian Network [98] .  ... 
doi:10.14257/ijsip.2014.7.3.10 fatcat:fr7h75fowraffnbo4v3gt7v45e

Overview of Moving Object Detection and Tracking

Devika S
2020 International Journal for Research in Applied Science and Engineering Technology  
Here going to discuss the most common challenges of accurately detecting moving objects, gives an overview of existing methods for detecting moving objects and tracking.  ...  Moving object detection and tracking is one of the critical areas of research for various applications of computer vision and image processing such as pedestrian detection, traffic monitoring, security  ...  It is a technique for implementing recursive Bayesian filter by Monte Carlo sampling.  ... 
doi:10.22214/ijraset.2020.6220 fatcat:d6ahgvtw7zbfxp2qyq73y7gsr4

Evaluation of Hierarchical Sampling Strategies in 3D Human Pose Estimation

J. Bandouch, F. Engstler, M. Beetz
2008 Procedings of the British Machine Vision Conference 2008  
A common approach to the problem of 3D human pose estimation from video is to recursively estimate the most likely pose via particle filtering.  ...  We evaluate both methods in the context of markerless model-based 3D motion capture using silhouette shapes from multiple cameras.  ...  In this paper we investigate different strategies for recursive estimation of human poses from video sequences in a Bayesian framework, or in other words for searching the sequence of optimal poses given  ... 
doi:10.5244/c.22.92 dblp:conf/bmvc/BandouchEB08 fatcat:fxqyhl3jxjb7dbibzcb6jo3iiq

Pedestrian Models for Autonomous Driving Part I: low level models, from sensing to tracking [article]

Fanta Camara, Nicola Bellotto, Serhan Cosar, Dimitris Nathanael, Matthias Althoff, Jingyuan Wu, Johannes Ruenz, André Dietrich, Charles W. Fox
2020 arXiv   pre-print
This self-contained Part I covers the lower levels of this stack, from sensing, through detection and recognition, up to tracking of pedestrians.  ...  Technologies at these levels are found to be mature and available as foundations for use in higher level systems such as behaviour modelling, prediction and interaction control.  ...  [81] proposed a variational Bayesian PHD filter with deep learning update to track multiple persons. In [57] , a PHD filter is used to track in realtime multiple people in a crowded environment.  ... 
arXiv:2002.11669v1 fatcat:fgg5j5jdwrbujjgtj2uhgrx2am

Visual Object Target Tracking Using Particle Filter: A Survey

G.Mallikarjuna Rao, Ch. Satyanarayana
2013 International Journal of Image Graphics and Signal Processing  
This paper gives the survey of the existing developments of Visual object target tracking using particle filter from the last decade and discusses the advantage and disadvantages of various particle filters  ...  stopping iteration. 39 An Efficient Multiple Cues Synthesis for Human Tracking using a Particle Filtering Framework[61] The authors combined multiple cues(Spatial Color Information ,Distance Transform  ...  Particle filter is a filtering method based on Monte Carlo and recursive Bayesian estimation. The particle filter, also known as condensation filter and they are suboptimal filters.  ... 
doi:10.5815/ijigsp.2013.06.08 fatcat:olg4prc5pjghza3pwzi6cigvky
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