A Particle Filtering Approach for Tracking an Unknown Number of Objects with Dynamic Relations

Abstract

In recent years there has been a growing interest on particle filters for solving tracking problems, thanks to their applicability to problems with continuous, non-linear and non-Gaussian state spaces, which makes them more suited than hidden Markov models, Kalman filters and their derivations, in many real world tasks. Applications include video surveillance, sensor fusion, tracking positions and behaviors of moving objects, situation assessment in civil and bellic scenarios, econometric and clinical data series analysis. In many environments it is possible to recognize classes of similar entities, like pedestrians or vehicles in a video surveillance system, or commodities in econometric. In this paper, a relational particle filter for tracking an unknown number of objects is presented which exploits possible interactions between objects to improve the quality of filtering. We will see that taking into account relations between objects will ease the tracking of objects in presence of occlusions and discontinuities in object dynamics. Experimental results on a benchmark data set are presented.