Autonomous crowds tracking with box particle filtering and convolution particle filtering

DOI10.1016/J.AUTOMATICA.2016.03.009MaRDI QIDQ286350zbMATH OpenOpenAlexWikidataFDO

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)

Copyright license Creative Commons Attribution 4.0 International

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

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)

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.

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Cites work

• scientific article; zbMATH DE number 1595639 (Why is no real title available?)
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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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