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Multimodal 3-D tracking and event detection via the particle filter
MULTIMODAL 3-D TRACKING AND EVENT DETECTION VIA THE PARTICLE FILTER
Dmitry Zotkin, Ramani Duraiswami, Larry S. Davis
Perceptual Interfaces and Reality Laboratory, UMIACS
University of Maryland, College Park, MD 20742
{dz,ramani,lsd}@
ABSTRACT
Determining the occurrence of an event is fundamental to
developing systems that can observe and react to them. Of-
ten, this determination is based on collecting video and/or
audio data and determining the state or location of a tracked
object. We use Bayesian inference and the particle filter
for tracking moving objects, using both video data obtained
from multiple cameras and audio data obtained using arrays
of microphones. The algorithms developed are applied to
determining events arising in two fields of application. In
the first, the behavior of a flying echolocating bat as it ap-
proaches a moving prey is studied, and the events of search,
approach and capture are detected. In a second application
we describe detection of turn-taking in a conversation be-
tween possibly moving participants recorded using a smart
video conferencing setup.
1. INTRODUCTION
An event is characterized by some typical change in the
state of some object. Robust detection of events thus re-
quires robust tracking of an object’s state. Typically this
state includes the object’s position, either in an absolute
frame, or relative to some other object. Further, to detect
an event change the detecting system must focus its atten-
tion on the object location (e.g., the position of a human)
at a given time. Systems that seek to recognize events in
applications such as surveillance, creating perceptually im-
mersive realities, or HCI, must thus be able to focus on par-
ticular object locations in order to obtain a better view of the
actions taking place. This focusing can involve zoom and
focus of an active camera, enhanced audio from the spot ob-
tained via a microphone array beamforming procedure, or
some other attention focusing mechanism. All these r
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