A Layered-based Fusion-based Approach to Detect and Track the Movements of Pedestrians through Partially Occluded Situations
To obtain perception abilities, conventional methods independently detect static and dynamic obstacles, and estimate their related information, which is not quite reliable and computationally heavy. We propose a fusion-based and layered-based approach to systematically detect dynamic obstacles and o...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers
2010
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| Online Access: | http://hdl.handle.net/1721.1/52378 https://orcid.org/0000-0003-3434-391X https://orcid.org/0000-0002-6657-5646 |
| _version_ | 1811093713332469760 |
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| author | Masaki, Ichiro Yokomitsu, Sumio Fang, Yajun Horn, Berthold Klaus Paul |
| author2 | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science |
| author_facet | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Masaki, Ichiro Yokomitsu, Sumio Fang, Yajun Horn, Berthold Klaus Paul |
| author_sort | Masaki, Ichiro |
| collection | MIT |
| description | To obtain perception abilities, conventional methods independently detect static and dynamic obstacles, and estimate their related information, which is not quite reliable and computationally heavy. We propose a fusion-based and layered-based approach to systematically detect dynamic obstacles and obtain their location and timing information. The layered-based concept helps us to first search pedestrians in horizontal dimension based on transitional peaks in the defined projection-curves, and then search in vertical dimension. Converting a typical 2D search problem into two 1D search problems significantly decreases the computational load. The fusion-based obstacle detection fuses the information from initial segmentation and dynamic tracking model to avoid complicated tracking schemes. The methodologies take advantage of connection between different information, and increase the accuracy and reliability of obstacle segmentation and tracking. The search mechanism works for both visible and infrared sequences, and is specifically effective to track the movements of pedestrians in complicated environments such as human intersecting and conclusion, thus improving environment understanding abilities and driving safety. |
| first_indexed | 2024-09-23T15:49:27Z |
| format | Article |
| id | mit-1721.1/52378 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T15:49:27Z |
| publishDate | 2010 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/523782022-09-29T16:22:26Z A Layered-based Fusion-based Approach to Detect and Track the Movements of Pedestrians through Partially Occluded Situations Masaki, Ichiro Yokomitsu, Sumio Fang, Yajun Horn, Berthold Klaus Paul Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology. Microsystems Technology Laboratories Horn, Berthold Klaus Paul Masaki, Ichiro Yokomitsu, Sumio Fang, Yajun Horn, Berthold Klaus Paul To obtain perception abilities, conventional methods independently detect static and dynamic obstacles, and estimate their related information, which is not quite reliable and computationally heavy. We propose a fusion-based and layered-based approach to systematically detect dynamic obstacles and obtain their location and timing information. The layered-based concept helps us to first search pedestrians in horizontal dimension based on transitional peaks in the defined projection-curves, and then search in vertical dimension. Converting a typical 2D search problem into two 1D search problems significantly decreases the computational load. The fusion-based obstacle detection fuses the information from initial segmentation and dynamic tracking model to avoid complicated tracking schemes. The methodologies take advantage of connection between different information, and increase the accuracy and reliability of obstacle segmentation and tracking. The search mechanism works for both visible and infrared sequences, and is specifically effective to track the movements of pedestrians in complicated environments such as human intersecting and conclusion, thus improving environment understanding abilities and driving safety. 2010-03-08T17:43:45Z 2010-03-08T17:43:45Z 2009-07 Article http://purl.org/eprint/type/JournalArticle 978-1-4244-3503-6 1931-0587 http://hdl.handle.net/1721.1/52378 Yajun Fang et al. “A layered-based fusion-based approach to detect and track the movements of pedestrians through partially occluded situations.” Intelligent Vehicles Symposium, 2009 IEEE. 2009. 548-555. ©2009 IEEE https://orcid.org/0000-0003-3434-391X https://orcid.org/0000-0002-6657-5646 en_US http://dx.doi.org/10.1109/IVS.2009.5164337 2009 IEEE Intelligent Vehicles Symposium Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Institute of Electrical and Electronics Engineers IEEE |
| spellingShingle | Masaki, Ichiro Yokomitsu, Sumio Fang, Yajun Horn, Berthold Klaus Paul A Layered-based Fusion-based Approach to Detect and Track the Movements of Pedestrians through Partially Occluded Situations |
| title | A Layered-based Fusion-based Approach to Detect and Track the Movements of Pedestrians through Partially Occluded Situations |
| title_full | A Layered-based Fusion-based Approach to Detect and Track the Movements of Pedestrians through Partially Occluded Situations |
| title_fullStr | A Layered-based Fusion-based Approach to Detect and Track the Movements of Pedestrians through Partially Occluded Situations |
| title_full_unstemmed | A Layered-based Fusion-based Approach to Detect and Track the Movements of Pedestrians through Partially Occluded Situations |
| title_short | A Layered-based Fusion-based Approach to Detect and Track the Movements of Pedestrians through Partially Occluded Situations |
| title_sort | layered based fusion based approach to detect and track the movements of pedestrians through partially occluded situations |
| url | http://hdl.handle.net/1721.1/52378 https://orcid.org/0000-0003-3434-391X https://orcid.org/0000-0002-6657-5646 |
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