Hardware and Software Co-Design for Object Detection with Modified ViBe Algorithm and Particle Filtering Based Object Tracking

2019 ◽  
Author(s):  
Yasitha M. Wijesinghe ◽  
Jayathu G. Samarawickrama ◽  
Dileeka Dias
Keyword(s):  
Object Detection ◽  
Object Tracking ◽  
Particle Filtering ◽  
Vibe Algorithm

scholarly journals Deep Learning-Based Object Detection, Localisation and Tracking for Smart Wheelchair Healthcare Mobility

2020 ◽  
Vol 18 (1) ◽  
pp. 91
Author(s):  
Louis Lecrosnier ◽  
Redouane Khemmar ◽  
Nicolas Ragot ◽  
Benoit Decoux ◽  
Romain Rossi ◽  
...  
Keyword(s):  
Object Detection ◽  
Object Tracking ◽  
Indoor Environment ◽  
Distance Estimation ◽  
Depth Estimation ◽  
Detection Algorithm ◽  
Use Case ◽  
Detection Distance ◽  
Detection Depth ◽  
Sort Algorithm

This paper deals with the development of an Advanced Driver Assistance System (ADAS) for a smart electric wheelchair in order to improve the autonomy of disabled people. Our use case, built from a formal clinical study, is based on the detection, depth estimation, localization and tracking of objects in wheelchair’s indoor environment, namely: door and door handles. The aim of this work is to provide a perception layer to the wheelchair, enabling this way the detection of these keypoints in its immediate surrounding, and constructing of a short lifespan semantic map. Firstly, we present an adaptation of the YOLOv3 object detection algorithm to our use case. Then, we present our depth estimation approach using an Intel RealSense camera. Finally, as a third and last step of our approach, we present our 3D object tracking approach based on the SORT algorithm. In order to validate all the developments, we have carried out different experiments in a controlled indoor environment. Detection, distance estimation and object tracking are experimented using our own dataset, which includes doors and door handles.

scholarly journals A Two-Stage Data Association Approach for 3D Multi-Object Tracking

Sensors ◽  
2021 ◽  
Vol 21 (9) ◽  
pp. 2894
Author(s):  
Minh-Quan Dao ◽  
Vincent Frémont
Keyword(s):  
Object Detection ◽  
Object Tracking ◽  
Moving Objects ◽  
Data Association ◽  
Autonomous Driving ◽  
Tracking Accuracy ◽  
Two Stage ◽  
Bipartite Matching ◽  
3D Object ◽  
3D Object Detection

Multi-Object Tracking (MOT) is an integral part of any autonomous driving pipelines because it produces trajectories of other moving objects in the scene and predicts their future motion. Thanks to the recent advances in 3D object detection enabled by deep learning, track-by-detection has become the dominant paradigm in 3D MOT. In this paradigm, a MOT system is essentially made of an object detector and a data association algorithm which establishes track-to-detection correspondence. While 3D object detection has been actively researched, association algorithms for 3D MOT has settled at bipartite matching formulated as a Linear Assignment Problem (LAP) and solved by the Hungarian algorithm. In this paper, we adapt a two-stage data association method which was successfully applied to image-based tracking to the 3D setting, thus providing an alternative for data association for 3D MOT. Our method outperforms the baseline using one-stage bipartite matching for data association by achieving 0.587 Average Multi-Object Tracking Accuracy (AMOTA) in NuScenes validation set and 0.365 AMOTA (at level 2) in Waymo test set.

Robust object tracking via integration of particle filtering with deep detection

2019 ◽  
Vol 87 ◽  
pp. 112-124 ◽  
Author(s):  
Filiz Gurkan ◽  
Bilge Gunsel ◽  
Caner Ozer
Keyword(s):  
Object Tracking ◽  
Particle Filtering

Object Tracking Using Probabilistic Principal Component Analysis Based on Particle Filtering Framework

2011 ◽  
Vol 341-342 ◽  
pp. 790-797 ◽  
Author(s):  
Zhi Yan Xiang ◽  
Tie Yong Cao ◽  
Peng Zhang ◽  
Tao Zhu ◽  
Jing Feng Pan
Keyword(s):  
Principal Component Analysis ◽  
Object Tracking ◽  
Particle Filtering ◽  
Principal Component ◽  
Component Analysis ◽  
Dimensional Subspace ◽  
Target Object ◽  
Scale Invariant ◽  
Low Dimensional ◽  
Probabilistic Principal Component Analysis

In this paper, an object tracking approach is introduced for color video sequences. The approach presents the integration of color distributions and probabilistic principal component analysis (PPCA) into particle filtering framework. Color distributions are robust to partial occlusion, are rotation and scale invariant and are calculated efficiently. Principal Component Analysis (PCA) is used to update the eigenbasis and the mean, which can reflect the appearance changes of the tracked object. And a low dimensional subspace representation of PPCA efficiently adapts to these changes of appearance of the target object. At the same time, a forgetting factor is incorporated into the updating process, which can be used to economize on processing time and enhance the efficiency of object tracking. Computer simulation experiments demonstrate the effectiveness and the robustness of the proposed tracking algorithm when the target object undergoes pose and scale changes, defilade and complex background.

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