Tracking Everything Around Me

Award Information
Agency:
Department of Defense
Branch:
Defense Advanced Research Projects Agency
Amount:
$98,461.00
Award Year:
2009
Program:
SBIR
Phase:
Phase I
Contract:
W31P4Q-09-C-0172
Agency Tracking Number:
08SB2-0550
Solicitation Year:
2008
Solicitation Topic Code:
SB082-029
Solicitation Number:
2008.2
Small Business Information
Kitware
28 Corporate Drive, Clifton Park, NY, 12065
Hubzone Owned:
N
Socially and Economically Disadvantaged:
N
Woman Owned:
N
Duns:
N/A
Principal Investigator
 Anthony Hoogs
 Director of Computer Vision
 (518) 371-3971
 anthony.hoogs@kitware.com
Business Contact
 Anthony Hoogs
Title: Director of Computer Vision
Phone: (518) 371-3971
Email: anthony.hoogs@kitware.com
Research Institution
N/A
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.

* information listed above is at the time of submission.

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