A photogrammetric approach for real-time 3D localization and tracking of pedestrians in monocular infrared imagery
Kundegorski, M.E.; Breckon, T.P.
Target tracking within conventional video imagery poses a significant challenge that is increasingly being addressed via complex algorithmic solutions. The complexity of this problem can be fundamentally attributed to the ambiguity associated with actual 3D scene position of a given tracked object in relation to its observed position in 2D image space. We propose an approach that challenges the current trend in complex tracking solutions by addressing this fundamental ambiguity head-on. In contrast to prior work in the field, we leverage the key advantages of thermal-band infrared (IR) imagery for the pedestrian localization to show that robust localization and foreground target separation, afforded via such imagery, facilities accurate 3D position estimation to within the error bounds of conventional Global Position System (GPS) positioning. This work investigates the accuracy of classical photogrammetry, within the context of current target detection and classification techniques, as a means of recovering the true 3D position of pedestrian targets within the scene. Based on photogrammetric estimation of target position, we then illustrate the efficiency of regular Kalman filter based tracking operating on actual 3D pedestrian scene trajectories. We present both a statistical and experimental analysis of the associated errors of this approach in addition to real-time 3D pedestrian tracking using monocular infrared (IR) imagery from a thermal-band camera. © (2014) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Kundegorski, M., & Breckon, T. (2014). A photogrammetric approach for real-time 3D localization and tracking of pedestrians in monocular infrared imagery. In Optics and photonics for counterterrorism, crime fighting, and defence X ; and optical materials and biomaterials in security and defence systems technology XI. https://doi.org/10.1117/12.2065673
|Conference Name||Proc. SPIE Optics and Photonics for Counterterrorism, Crime Fighting and Defence|
|Publication Date||Oct 7, 2014|
|Deposit Date||Dec 9, 2014|
|Publicly Available Date||Feb 3, 2015|
|Series Title||Proceedings of SPIE|
|Book Title||Optics and photonics for counterterrorism, crime fighting, and defence X ; and optical materials and biomaterials in security and defence systems technology XI.|
|Keywords||Thermal target tracking, Temporal filtering, Intelligent target reporting, Thermal imaging, Pedestrian detection, People detection, Sensor networks, Temporal fusion, Passive target positioning, 3D pedestrian localization.|
|Related Public URLs||http://www.durham.ac.uk/toby.breckon/publications/papers/kundegorski14photogrammetric.pdf|
Accepted Conference Proceeding
Copyright © 2014 Society of Photo-Optical Instrumentation Engineers. One print or electronic copy may be made for personal use only. Systematic electronic or print reproduction and distribution, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper are prohibited.
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