A novel method for tracking and counting pedestrians in real-timeusing a single camera
Masoud, O.; Papanikolopoulos, N.P.
Vehicular Technology, IEEE Transactions on
Volume 50, Issue 5, Sep 2001 Page(s):1267 - 1278
Digital Object Identifier 10.1109/25.950328
Summary:This paper presents a real-time system for pedestrian tracking in
sequences of grayscale images acquired by a stationary camera. The
objective is to integrate this system with a traffic control application
such as a pedestrian control scheme at intersections. The proposed
approach can also be used to detect and track humans in front of
vehicles. Furthermore, the proposed schemes can be employed for the
detection of several diverse traffic objects of interest (vehicles,
bicycles, etc.) The system outputs the spatio-temporal coordinates of
each pedestrian during the period the pedestrian is in the scene.
Processing is done at three levels: raw images, blobs, and pedestrians.
Blob tracking is modeled as a graph optimization problem. Pedestrians
are modeled as rectangular patches with a certain dynamic behavior.
Kalman filtering is used to estimate pedestrian parameters. The system
was implemented on a Datacube MaxVideo 20 equipped with a Datacube
Max860 and was able to achieve a peak performance of over 30 frames per
second. Experimental results based on indoor and outdoor scenes
demonstrated the system s robustness under many difficult situations
such as partial or full occlusions of pedestrians
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