Autonomous crowds tracking with box particle filtering and convolution particle filtering

DOI10.1016/J.AUTOMATICA.2016.03.009zbMATH Open1338.93369arXiv1601.02429OpenAlexW2255760501WikidataQ59265047 ScholiaQ59265047MaRDI QIDQ286350FDOQ286350

Authors: Allan De Freitas, Lyudmila Mihaylova, Amadou Gning, Donka Angelova, Visakan Kadirkamanathan 

Publication date: 20 May 2016

Published in: Automatica (Search for Journal in Brave)

Abstract: Autonomous systems such as Unmanned Aerial Vehicles (UAVs) need to be able to recognise and track crowds of people, e.g. for rescuing and surveillance purposes. Large groups generate multiple measurements with uncertain origin. Additionally, often the sensor noise characteristics are unknown but measurements are bounded within certain intervals. In this work we propose two solutions to the crowds tracking problem - with a box particle filtering approach and with a convolution particle filtering approach. The developed filters can cope with the measurement origin uncertainty in an elegant way, i.e. resolve the data association problem. For the box particle filter (PF) we derive a theoretical expression of the generalised likelihood function in the presence of clutter. An adaptive convolution particle filter (CPF) is also developed and the performance of the two filters is compared with the standard sequential importance resampling (SIR) PF. The pros and cons of the two filters are illustrated over a realistic scenario (representing a crowd motion in a stadium) for a large crowd of pedestrians. Accurate estimation results are achieved.

Full work available at URL: https://arxiv.org/abs/1601.02429

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zbMATH Keywords

box particle filterconvolution particle filtercrowd tracking

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Control/observation systems with incomplete information (93C41) Automated systems (robots, etc.) in control theory (93C85) Estimation and detection in stochastic control theory (93E10)

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Cited In (2)

• Multi-vehicle tracking with microscopic traffic flow model-based particle filtering
• A box regularized particle filter for state estimation with severely ambiguous and non-linear measurements

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