Real Time Vision Based Multi-person Tracking for Mobile Robotics and Intelligent Vehicles

Dennis Mitzel, Georgios Floros, Patrick Sudowe, Benito van der Zander, Bastian Leibe
International Conference on Intelligent Robotics and Applications(ICIRA'11).

In this paper, we present a real-time vision-based multiperson tracking system working in crowded urban environments. Our approach combines stereo visual odometry estimation, HOG pedestrian detection, and multi-hypothesis tracking-by-detection to a robust tracking framework that runs on a single laptop with a CUDA-enabled graphics card. Through shifting the expensive computations to the GPU and making extensive use of scene geometry constraints we could build up a mobile system that runs with 10Hz. We experimentally demonstrate on several challenging sequences that our approach achieves competitive tracking performance.

» Show BibTeX
@inproceedings{DBLP:conf/icira/MitzelFSZL11, author = {Dennis Mitzel and Georgios Floros and Patrick Sudowe and Benito van der Zander and Bastian Leibe}, title = {Real Time Vision Based Multi-person Tracking for Mobile Robotics and Intelligent Vehicles}, booktitle = {Intelligent Robotics and Applications - 4th International Conference, {ICIRA} 2011, Aachen, Germany, December 6-8, 2011, Proceedings, Part {II}}, pages = {105--115}, year = {2011}, crossref = {DBLP:conf/icira/2011-2}, url = {http://dx.doi.org/10.1007/978-3-642-25489-5_11}, doi = {10.1007/978-3-642-25489-5_11}, timestamp = {Fri, 02 Dec 2011 12:36:17 +0100}, biburl = {http://dblp.uni-trier.de/rec/bib/conf/icira/MitzelFSZL11}, bibsource = {dblp computer science bibliography, http://dblp.org} }



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