Realtime Tracking of Multiple People Using Stereo多人使用立体跟踪的实时跟踪.pptVIP

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Realtime Tracking of Multiple People Using Stereo多人使用立体跟踪的实时跟踪.ppt

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Realtime Tracking of Multiple People Using Stereo多人使用立体跟踪的实时跟踪

Real-time Tracking of MultiplePeople Using Stereo David Beymer Bob Bolles Kurt Konolige Chris Eveland Artificial Intelligence Center SRI International Problem: people tracking for surveillance return coarse 3D locations of people real-time on standard hardware multiple people in scene stationary camera Approach consider: template-based tracking maintain template of object correlation used to update object position template is recursively updated to handle changing object appearance limitations/problems 1) object initialization/detection 2) template drift Goal: add modality of stereo segmentation: background subtraction on stereo disparities to detect foreground detection: person templates encoding head and torso shape tracking: person templates used to avoid drift stereo segmentation used to add “support” template Approach detection segment foreground into depth layers correlate with person templates tracking intensity and support templates are recursively updated Kalman filtering on person location in 3D person templates used to avoid drift Related Work Companies Teleos Research/Autodesk, People Tracker DEC/Compac, Smart Kiosk [Rehg, et al, 1997] Interval, Morphin Mirror [Darrell, et al, 1998] Sarnoff [IUW, 1998] Texas Instruments [Flinchbaugh, 1998] Electric Planet Universities MIT, Pfinder [Wren, et al, 1997] Toronto, [Fieguth and Terzopoulos, 1997 Maryland, W S [Haritaoglu, et al., 1998] MIT, Forest of Sensors [Grimson, et al., 1998] CMU [Kanade, et al, 1998] Columbia/Lehigh [Nayar and Boult, 1998] Boston Univ., [Rosales and Sclaroff, 1998] Stereo module: SRIs Small Vision System (SVS) Hardware two CMOS cameras low power (150mW), inexpensive ($100 components) adjustable baseline: 2.7 to 6.2 in 1 increments another version with DSP processing onboard Software stereo algorithm is area correlation based optimized C and MMX code 20 Hz on 320x240 image, 24 disparities, 400 MHz Pentium II SVS Stereo Results Background subtrac