Multiple Human Tracking Using an Omnidirectional Camera with Local Rectification and World Coordinates Representation

Hitoshi NISHIMURA  Naoya MAKIBUCHI  Kazuyuki TASAKA  Yasutomo KAWANISHI  Hiroshi MURASE  

IEICE TRANSACTIONS on Information and Systems   Vol.E103-D   No.6   pp.1265-1275
Publication Date: 2020/06/01
Online ISSN: 1745-1361
DOI: 10.1587/transinf.2019MVP0009
Type of Manuscript: Special Section PAPER (Special Section on Machine Vision and its Applications)
multiple human tracking,  data association,  omnidirectional camera,  

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Multiple human tracking is widely used in various fields such as marketing and surveillance. The typical approach associates human detection results between consecutive frames using the features and bounding boxes (position+size) of detected humans. Some methods use an omnidirectional camera to cover a wider area, but ID switch often occurs in association with detections due to following two factors: i) The feature is adversely affected because the bounding box includes many background regions when a human is captured from an oblique angle. ii) The position and size change dramatically between consecutive frames because the distance metric is non-uniform in an omnidirectional image. In this paper, we propose a novel method that accurately tracks humans with an association metric for omnidirectional images. The proposed method has two key points: i) For feature extraction, we introduce local rectification, which reduces the effect of background regions in the bounding box. ii) For distance calculation, we describe the positions in a world coordinate system where the distance metric is uniform. In the experiments, we confirmed that the Multiple Object Tracking Accuracy (MOTA) improved 3.3 in the LargeRoom dataset and improved 2.3 in the SmallRoom dataset.