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- Title
Dynamic Track Management in MHT for Pedestrian Tracking Using Laser Range Finder.
- Authors
Abd Rahman, Abdul Hadi; Zamzuri, Hairi; Mazlan, Saiful Amri; Abdul Rahman, Mohd Azizi; Yamamoto, Yoshio; Samsuri, Saiful Bahri
- Abstract
Real time pedestrian tracking could be one of the important features for autonomous navigation. Laser Range Finder (LRF) produces accurate pedestrian data but a problem occurs when a pedestrian is represented by multiple clusters which affect the overall tracking process. Multiple Hypothesis Tracking (MHT) is a proven method to solve tracking problem but suffers a large computational cost. In this paper, a multilevel clustering of LRF data is proposed to improve the accuracy of a tracking system by adding another clustering level after the feature extraction process. A Dynamic Track Management (DTM) is introduced in MHT with multiple motion models to perform a track creation, association, and deletion. The experimental results from real time implementation prove that the proposed multiclustering is capable of producing a better performance with less computational complexity for a track management process. The proposed Dynamic Track Management is able to solve the tracking problem with lower computation time when dealing with occlusion, crossed track, and track deletion.
- Subjects
REAL-time computing; PEDESTRIANS; OPTICAL range finders; PROBLEM solving; FEATURE extraction; COMPUTATIONAL complexity
- Publication
Mathematical Problems in Engineering, 2015, Vol 2015, p1
- ISSN
1024-123X
- Publication type
Article
- DOI
10.1155/2015/545204