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Pedestrian Tracking with an Infrared Sensor using Road Network Information
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2012 (English)In: EURASIP Journal on Advances in Signal Processing, ISSN 1687-6172, E-ISSN 1687-6180, Vol. 1, no 26, 2012a- p.Article in journal (Refereed) Published
Abstract [en]

This article presents a pedestrian tracking methodology using an infrared sensor for surveillance applications. A distinctive feature of this study compared to the existing pedestrian tracking approaches is that the road network information is utilized for performance enhancement. A multiple model particle filter, which uses two different motion models, is designed for enabling the tracking of both road-constrained (on-road) and unconstrained (off-road) targets. The lateral position of the pedestrians on the walkways are taken into account by a specific on-road target model. The overall framework seamlessly integrates the negative information of occlusion events into the algorithm for which the required modifications are discussed. The resulting algorithm is illustrated on real data from a field trial for different scenarios.

Place, publisher, year, edition, pages
Springer, 2012. Vol. 1, no 26, 2012a- p.
Keyword [en]
Pedestrian tracking, Infrared sensor, Road network, Particle filter, Multiple model, Occlusion
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-76888DOI: 10.1186/1687-6180-2012-26OAI: oai:DiVA.org:liu-76888DiVA: diva2:517378
Projects
CADICSSecurity LinkExtended Target Tracking
Funder
Swedish Research CouncilSecurity Link
Available from: 2012-04-23 Created: 2012-04-23 Last updated: 2017-12-07
In thesis
1. Tracking and Planning for Surveillance Applications
Open this publication in new window or tab >>Tracking and Planning for Surveillance Applications
2012 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Vision and infrared sensors are very common in surveillance and security applications, and there are numerous examples where a critical infrastructure, e.g. a harbor, an airport, or a military camp, is monitored by video surveillance systems. There is a need for automatic processing of sensor data and intelligent control of the sensor in order to obtain efficient and high performance solutions that can support a human operator. This thesis considers two subparts of the complex sensor fusion system; namely target tracking and sensor control.The multiple target tracking problem using particle filtering is studied. In particular, applications where road constrained targets are tracked with an airborne video or infrared camera are considered. By utilizing the information about the road network map it is possible to enhance the target tracking and prediction performance. A dynamic model suitable for on-road target tracking with a camera is proposed and the computational load of the particle filter is treated by a Rao-Blackwellized particle filter. Moreover, a pedestrian tracking framework is developed and evaluated in a real world experiment. The exploitation of contextual information, such as road network information, is highly desirable not only to enhance the tracking performance, but also for track analysis, anomaly detection and efficient sensor management. Planning for surveillance and reconnaissance is a broad field with numerous problem definitions and applications. Two types of surveillance and reconnaissance problems are considered in this thesis. The first problem is a multi-target search and tracking problem. Here, the task is to control the trajectory of an aerial sensor platform and the pointing direction of its camera to be able to keep track of discovered targets and at the same time search for new ones. The key to successful planning is a measure that makes it possible to compare different tracking and searching tasks in a unified framework and this thesis suggests one such measure. An algorithm based on this measure is developed and simulation results of a multi-target search and tracking scenario in an urban area are given. The second problem is aerial information exploration for single target estimation and area surveillance. In the single target case the problem is to control the trajectory of a sensor platform with a vision or infrared camera such that the estimation performance of the target is maximized. The problem is treated both from an information filtering and from a particle filtering point of view. In area exploration the task is to gather useful image data of the area of interest by controlling the trajectory of the sensor platform and the pointing direction of the camera. Good exploration of a point of interest is characterized by several images from different viewpoints. A method based on multiple information filters is developed and simulation results from area and road exploration scenarios are presented.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2012. 252 p.
Series
Linköping Studies in Science and Technology. Dissertations, ISSN 0345-7524 ; 1432
Keyword
target tracking, sensor control, planning, surveillance, vision sensor
National Category
Control Engineering Signal Processing
Identifiers
urn:nbn:se:liu:diva-76883 (URN)978-91-7519-941-2 (ISBN)
Public defence
2012-06-07, Signalen, Hus B, Campus Valla, Linköping universitet, Linköping, 13:15 (English)
Opponent
Supervisors
Available from: 2012-04-23 Created: 2012-04-23 Last updated: 2012-05-04Bibliographically approved

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Skoglar, PerOrguner, UmutTörnqvist, DavidGustafsson, Fredrik

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