A mobile vision system for robust multi-person tracking

We present a mobile vision system for multi-person tracking in busy environments. Specifically, the system integrates continuous visual odometry computation with tracking-bydetection in order to track pedestrians in spite of frequent occlusions and egomotion of the camera rig. To achieve reliable performance under real-world conditions, it has long been advocated to extract and combine as much visual information as possible. We propose a way to closely integrate the vision modules for visual odometry, pedestrian detection, depth estimation, and tracking. The integration naturally leads to several cognitive feedback loops between the modules. Among others, we propose a novel feedback connection from the object detector to visual odometry which utilizes the semantic knowledge of detection to stabilize localization. Feedback loops always carry the danger that erroneous feedback from one module is amplified and causes the entire system to become instable. We therefore incorporate automati...

• Type: Conference
• Year: 2008
• Where: CVPR
• Authors: Andreas Ess, Bastian Leibe, Konrad Schindler, Luc J. Van Gool
• Keywords: Automatic Failure Detection, Busy Inner-city Locations, Computer Vision, CVPR 2008, Stable Tracking Performance, Visual Odometry, Visual Odometry Computation