Abstract
Multi-target tracking is a common problem with many applications. In most of these the expected number of targets is not known a priori, so that it has to be estimated from the measured data. Poisson point processes (PPPs) are a very useful theoretical model for diverse applications. One of those is multi-target tracking of an unknown number of targets, leading to the intensity filter (iFilter) and the probability hypothesis density (PHD) filter. This chapter presents a sequential Monte Carlo (SMC) implementation of the iFilter. In theory it was shown that the iFilter can estimate a clutter model from the measurements and thus does not need it as a priori knowledge, like the PHD filter does. Our studies show that this property holds not only in simulations but also in real world applications. In addition it can be shown that the performance of the PHD filter decreases substantially if the a priori knowledge of the clutter intensity is chosen incorrectly.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Baker, S., Schastein, D., Lewis, J., Roth, S., Black, M., Szeliski, R.: A database and evaluation methodology for optical flow. In: ICCV (2007)
Bar-Shalom, Y., Fortmann, T.: Tracking and Data Association. Academic, San Diego (1988)
Bar-Shalom, Y., Fortmann, T., Scheffe, M.: Joint probabilistic data association for multiple targets in clutter. In: Conf. on Information Sciences and Systems (1980)
Callen, H.: Thermodynamics and an Introduction to Thermostatistics, 2nd edn. Wiley, New York (1985)
Carpenter, G., Grossberg, S.: ART 2: Self-organizing stable category recognition codes for analog input patterns. Applied Optics 26(23), 4919–4930 (1987)
Dalal, N., Triggs, B.: Histograms of oriented gradients for human detection. In: CVPR (2005)
Davis, J., Sharma, V.: Background-subtraction using contour-based fusion of thermal and visible imagery. Computer Vision and Understanding 106(2-3), 162–182 (2007)
Erdinc, O., Willett, P., Bar-Shalom, Y.: Probability hypothesis density filter for multitarget multisensor tracking. In: Proc. of the 8th International Conference on Information Fusion (FUSION), Philadelphia, PA, USA (July 2005)
Fortmann, T., Bar-Shalom, Y., Scheffe, M.: Sonar tracking of multiple targets using joint probabilistic data association. IEEE J. Oceanic Eng. 8, 173–184 (1983)
Lloyd, S.: Least squares quantziation in pcm. IEEE Trans. Inform. Theory 28(2), 129–137 (1982)
Maggio, E., Taj, M., Cavallaro, A.: Efficient multi-target visual tracking unsing random finite sets. IEEE Trans. on TCSVT 18(8), 1016–1027 (2008)
Mahler, R.: Multitarget Bayes filtering via first-order multitargets moments. IEEE Trans. Aerosp. Electron. Syst. 39(4), 1152–1178 (2003)
Mahler, R.: PHD filters of higher order in target number. IEEE Trans. Aerosp. Electron. Syst. 43(4), 1523–1543 (2007)
Nummiaro, K., Koller-Meier, E., Gool, L.V.: An adaptive color-based particle filter. Image and Vision Computing 21(1), 99–110 (2002)
Pellegrini, S., Ess, A., Schindler, K., van Gool, L.: You’ll never walk alone: Modeling social behaviour for multi-target tracking. In: ICCV (2009)
Reid, D.B.: An algorithm for tracking multiple targets. IEEE Trans. Autom. Control 24(6), 843–854 (1979)
Ristic, B., Arulampalam, S., Gordon, N.: Beyond the Kalman filter: Particle filters for tracking applications. Artech House (2004)
Ristic, B., Clark, D., Vo, B.-N.: Improved SMC implementation of the PHD filter. In: Proc. of the 13th International Conference on Information Fusion, Edinburgh, UK (July 2010)
Schikora, M.: Global optimal multiple object detection using the fusion of shape and color information. In: Energy Minimization Methods in Computer Vision and Pattern Recognition, EMMCVPR (August 2009)
Schikora, M.: Global optimal multiple object detection using the fusion of shape and color information. In: EMMCVPR (2009)
Schikora, M., Bender, D., Cremers, D., Koch, W.: Passive multi-object localization and tracking using bearing data. In: 13th International Conference on Information Fusion, Edinburgh, UK (July 2010)
Schikora, M., Bender, D., Koch, W., Cremers, D.: Multitarget multisensor localization and tracking using passive antennas and optical sensors. In: Proc. SPIE, Security + Defense, vol. 7833 (2010)
Schikora, M., Koch, W., Cremers, D.: Multi-object tracking via high accuracy optical flow and finite set statistics. In: Proc. of the 36th International Conference on Acoustics, Speech and Signal Processing (ICASSP), Prag, Czech Republic. IEEE (May 2011)
Schikora, M., Koch, W., Streit, R., Cremers, D.: Sequential Monte Carlo method for the iFilter. In: Proc. of the 14th International Conference on Information Fusion (FUSION), Chicago, IL, USA (July 2011)
Schmidt, R.O.: Multiple emitter location and signal parameter estimation. In: Proc. RADC Spectrum Estimation Workshop, Griffith AFB, pp. 243–258 (1979)
Schumacher, D., Vo, B.-T., Vo, B.-N.: A consistent metric for performance evaluation of multi-object filters. IEEE Trans. Signal Processing 58(8), 3447–3457 (2008)
Sidenbladh, H.: Multi-target particle filtering for probability hypothesis density. In: International Conference on Information Fusion, Cairns, Australia, pp. 800–806 (2003)
Streit, R.: Multisensor multitarget intensity filter. In: 11th International Conference on Information Fusion (2008)
Streit, R.: Poisson Point Processes: Imaging, Tracking, and Sensing. Springer (2010)
Streit, R., Osborn, B., Orlov, K.: Hybrid intensity and likelihood ratio tracking (iLRT) filter for multitarget detection. In: Proceedings of the 14th International Conference on Information Fusion (FUSION), Chicago, IL, USA (July 2011)
Streit, R., Stone, L.: Bayes derivation of multitarget intensity filters. In: 11th International Conference on Information Fusion (2008)
Vo, B.-N., Singh, S., Doucet, A.: Sequential Monte Carlo methods for multi-target filtering with random finite sets. IEEE Trans. Aerosp. Electron. Syst. 41(4), 1224–1245 (2005)
Vo, B.-T., Ma, W.-K.: The Gaussian mixture probability hypothesis density filter. IEEE Trans. Signal Processing 55(11), 4091–4104 (2006)
Wang, Y., Wu, J., Kassim, A., Huang, W.: Tracking a variable number of human groups in video using probability hypothesis density. In: ICPR (2006)
Weickert, J., Bruhn, A., Brox, T., Papenberg, N.: A survey on variational optic flow methods for small displacements. Mathematical Models for Registration and Applications to Medical Images, 103–136 (2006)
Werlberger, M., Trobin, W., Pock, T., Wedel, A., Cremers, D., Bischof, H.: Anisotropic Huber-L1 optical flow. In: BMVC, London, UK (September 2009)
Zajic, T., Mahler, R.: A particle-systems implementation of the PHD multi-target tracking filter. In: Proc. SPIE, Signal Processing, Sensor Fusion Target Recognition XII, vol. 5096(4), pp. 291–299 (2003)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer Berlin Heidelberg
About this chapter
Cite this chapter
Schikora, M., Koch, W., Streit, R., Cremers, D. (2013). A Sequential Monte Carlo Method for Multi-target Tracking with the Intensity Filter. In: Georgieva, P., Mihaylova, L., Jain, L. (eds) Advances in Intelligent Signal Processing and Data Mining. Studies in Computational Intelligence, vol 410. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-28696-4_3
Download citation
DOI: https://doi.org/10.1007/978-3-642-28696-4_3
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-28695-7
Online ISBN: 978-3-642-28696-4
eBook Packages: EngineeringEngineering (R0)