Abstract
Estimating accurate positions of multiple pedestrians is a critical task in robotics and autonomous cars. We propose a tracker based on typical human motion patterns to track multiple pedestrians. This paper assumes that the legs’ reflection and extension angles are approximately changing periodically during human motion. A Fourier series is fitted in order to describe the moving, such as describing the position and velocity of the hip, knee, and ankle. Our tracker receives the position of the ankle, knee, and hip as measurements. As a proof of concept, we compare our tracker with state-of-the-art methods. The proposed models have been validated by experimental data, the Human Gait Database (HuGaDB), and the Karlsruhe Institute of Technology and Toyota Technological Institute (KITTI) tracking benchmark. The results indicate that our tracker is able to estimate the reflection and extension angles with a precision of 90.97%. Moreover, the comparison shows that the tracking precision increases up to 1.3% with the proposed tracker when compared to a constant velocity based tracker.
Highlights
IntroductionPedestrian deaths account for more than one-fifth of road traffic deaths around the world [1]
Pedestrian deaths account for more than one-fifth of road traffic deaths around the world [1].transportation systems, including vehicles and infrastructures, use various approaches to track pedestrians, due to the high number of fatalities
As ground truth (GT) data, this dataset provides the center of a bounding box (BB) around the pedestrian in an urban environment
Summary
Pedestrian deaths account for more than one-fifth of road traffic deaths around the world [1]. Transportation systems, including vehicles and infrastructures, use various approaches to track pedestrians, due to the high number of fatalities. The tracking here is defined as estimating a pedestrian’s position and velocity. A tracker helps cars to plan their driving path and navigate safely. Suppose that a pedestrian is walking and does not notice a car near him/her. A tracker estimates the position and the velocity of the pedestrian. Based on the tracker’s output, the car can alert the pedestrian or change its speed or path
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