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Tracking Everything Around Me

Award Information

Agency:
Department of Defense
Branch:
Defense Advanced Research Projects Agency
Award ID:
91767
Program Year/Program:
2009 / SBIR
Agency Tracking Number:
08SB2-0550
Solicitation Year:
N/A
Solicitation Topic Code:
N/A
Solicitation Number:
N/A
Small Business Information
Kitware Inc.
28 Corporate Drive Clifton Park, NY 12065-8688
View profile »
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
 
Phase 1
Fiscal Year: 2009
Title: Tracking Everything Around Me
Agency / Branch: DOD / DARPA
Contract: W31P4Q-09-C-0172
Award Amount: $98,461.00
 

Abstract:

We propose to develop and conduct initial evaluations of real time computer vision algorithms for detecting and tracking people and other movers from robot mounted video cameras. The rapid sensor motion and depth of field motivates the use of direct shape and appearance-based methods for detection and tracking, instead of detecting pixel changes against a background model. The detection and tracking algorithms need to manage frequent and sometimes severe occlusions arising from crowded conditions. Our approach has three processing levels. First, objects are detected using shape-based methods tuned to humans or other objects. Then multiple objects are tracked simultaneously using a novel multi-target particle filter that dynamically handles grouping behaviors. Finally, scene content is extracted and used to link tracks across long occlusions using a global optimization. In Phase 1, we will develop an initial end-to-end algorithm by enhancing our current techniques for each processing step. The feasibility of tracking under difficult conditions will be investigated by measuring tracking performance under various levels of inter-object occlusions, object size and camera motion.

Principal Investigator:

Anthony Hoogs
Director of Computer Vision
5183713971
anthony.hoogs@kitware.com

Business Contact:

Anthony Hoogs
Director of Computer Vision
5183713971
anthony.hoogs@kitware.com
Small Business Information at Submission:

KITWARE
28 Corporate Drive Clifton Park, NY 12065

EIN/Tax ID: 141802694
DUNS: N/A
Number of Employees:
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No