This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.

Search for Publication

Year(s) from:  to 
Keywords (separated by spaces):

Robust Multi-Person Tracking from a Mobile Platform

A. Ess, B. Leibe, K. Schindler, L. Van Gool
IEEE Transactions on Pattern Analysis and Machine Intelligence
Vol. 31, No. 10, pp. 1831-1846, 2009


In this paper, we address the problem of multiperson tracking in busy pedestrian zones using a stereo rig mounted on a mobile platform. The complexity of the problem calls for an integrated solution that extracts as much visual information as possible and combines it through cognitive feedback cycles. We propose such an approach, which jointly estimates camera position, stereo depth, object detection, and tracking. The interplay between those components is represented by a graphical model. Since the model has to incorporate object-object interactions and temporal links to past frames, direct inference is intractable. We, therefore, propose a twostage procedure: for each frame, we first solve a simplified version of the model (disregarding interactions and temporal continuity) to estimate the scene geometry and an overcomplete set of object detections. Conditioned on these results, we then address object interactions, tracking, and prediction in a second step. The approach is experimentally evaluated on several long and difficult video sequences from busy inner-city locations. Our results show that the proposed integration makes it possible to deliver robust tracking performance in scenes of realistic complexity.

Link to publisher's page
Download in pdf format
  author = {A. Ess and B. Leibe and K. Schindler and L. Van Gool},
  title = {Robust Multi-Person Tracking from a Mobile Platform},
  journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
  year = {2009},
  month = {},
  pages = {1831-1846},
  volume = {31},
  number = {10},
  keywords = {}