Multiple pedestrians tracking with composite sensor of laser range finder and omni-directional camera by SMC implementation of PHD filter
Norikazu Ikoma · 2012
Multiple pedestrians tracking with composite sensor of laser range finder and omni-directional camera having wide field of view has been proposed based on Sequential Monte Carlo (SMC) implementation of Probability Hypothesis Density (PHD) filter in Track Before Detect (TBD) approach. The composite sensor has been fixed on the flat ground with its laser measurement plane crossing body of target pedestrians. Tracking has been done for multiple pedestrians walk around the sensor with cluttered static scene. Real-time tracking system has been developed and experimental results demonstrate the performance of the proposed method.