Pedestrian group tracking using the GM-PHD filter
Viktor Edman, Maria M. Andersson, Karl Granström, Fredrik Gustafsson · 2013
A GM-PHD filter is used for pedestrian tracking in a crowdsurveillance application. The purpose is to keep track of thedifferent groups over time as well as to represent the shape ofthe groups and the number of people within the groups. In-put data to the GM-PHD filter are detections using a state ofthe art algorithm applied to video frames from the PETS 2012benchmark data. In a first step, the detections in the framesare converted from image coordinates to world coordinates.This implies that groups can be defined in physical units interms of distance in meters and speed differences in metersper second. The GM-PHD filter is a Bayesian framework thatdoes not form tracks of individuals. Its output is well suitedfor clustering of individuals into groups. The results demon-strate that the GM-PHD filter has the capability of estimatingthe correct number of groups with an accurate representationof their sizes and shapes.