RAO-BLACKWELLIZED RESAMPLING PARTICLE FILTER FOR REAL-TIME PLAYER TRACKING IN SPORTS

Nicolai v. Hoyningen-Huene, Michael Beetz

2009

Abstract

Tracking multiple targets with similiar appearance is a common task in computer vision applications, especially in sports games. We propose a Rao-Blackwellized Resampling Particle Filter (RBRPF) as an implementable real-time continuation of a state-of-the-art multi-target tracking method. Target configurations are tracked by sampling associations and solving single-target tracking problems by Kalman filters. As an advantage of the new method the independence assumption between data associations is relaxed to increase the robustness in the sports domain. Smart resampling and memoization is introduced to equip the tracking method with real-time capabilities in the first place. The probabilistic framework allows for consideration of appearance models and the fusion of different sensors. We demonstrate its applicability to real world applications by tracking soccer players captured by multiple cameras through occlusions in real-time.

References

  1. A.Dearden, Y. and Grau, O. (2006). Tracking football player movment from a single moving camera using particle filters. In European Conf. on Visual Media Production (CVMP 2006).
  2. Arulampalam, M. S., Maskell, S., Gordon, N., and Clapp, T. (2002). A tutorial on particle filters for online nonlinear/non-gaussian bayesian tracking. IEEE Trans. on Signal Processing, 50(2).
  3. Bar-Shalom, Y., Li, X.-R., and Kirubarajan, T. (2001). Estimation with Applications to Tracking and Navigation. Wiley Interscience.
  4. Barceló, L., Binefa, X., and Kender, J. R. (2005). Robust methods and representations for soccer player tracking and collision resolution. In Proc. of Intl. Conf. on Image and Video Retrieval (CIVR 2005), pages 237- 246.
  5. Beetz, M., Bandouch, J., Gedikli, S., von HoyningenHuene, N., Kirchlechner, B., and Maldonado, A. (2006). Camera-based observation of football games for analyzing multi-agent activities. In Proc. of Intl. Joint Conf. on Autonomous Agents and Multiagent Systems (AAMAS).
  6. Beetz, M., Gedikli, S., Bandouch, J., Kirchlechner, B., von Hoyningen-Huene, N., and Perzylo, A. (2007). Visually tracking football games based on tv broadcasts. In Proc. of Intl. Joint Conf. on Artificial Intelligence (IJCAI).
  7. Doucet, A. (1998). On sequential Monte Carlo methods for Bayesian filtering. Technical report, Dept. End., Univ. Cambridge, UK.
  8. Du, W., Hayet, J.-B., Piater, J., and Verly, J. (2006). Collaborative multi-camera tracking of athletes in team sports. In Workshop on Computer Vision Based Analysis in Sport Environments (CVBASE), pages 2-13.
  9. Du, W. and Piater, J. H. (2007). Multi-camera People Tracking by Collaborative Particle Filters and Principal Axis-Based Integration. In Asian Conference on Computer Vision, number 4843 in LNCS, pages 365- 374. Springer.
  10. Figueroa, P. J., Leite, N. J., and Barros, R. M. L. (2006). Tracking soccer players aiming their kinematical motion analysis. Computer Vision and Image Understanding, 101(2):122-135.
  11. Gedikli, S., Bandouch, J., von Hoyningen-Huene, N., Kirchlechner, B., and Beetz, M. (2007). An Adaptive Vision System for Tracking Soccer Players from Variable Camera Settings. In Proc. of Intl. Conf. on Computer Vision Systems (ICVS).
  12. Huang, P. and Hilton, A. (2006). Football player tracking for video annotation. In European Conf. on Visual Media Production.
  13. Khan, Z., Balch, T., and Dellaert, F. (2006). Mcmc data association and sparse factorization updating for real time multitarget tracking with merged and multiple measurements. IEEE Trans. on Pattern Analysis and Machine Intelligence, 28(12):1960-1972.
  14. Li, Y., Dore, A., and Orwell, J. (2005). Evaluating the performance of systems for tracking football players and ball. In IEEE Intl. Conf. on Advanced Video and Signal Based Surveillance.
  15. Liu, J., Tong, X., Li, W., Wang, T., Zhang, Y., Wang, H., Yang, B., Sun, L., and Yang, S. (2007). Automatic player detection, labeling and tracking in broadcast soccer video. In British Machine Vision Conference.
  16. MacCormick, J. and Blake, A. (1999). A probabilistic exclusion principle for tracking multiple objects. In Proc. of Intl. Conf. on Computer Vision (ICCV), pages 572-578.
  17. Nillius, P., Sullivan, J., and Carlsson, S. (2006). Multi-target tracking - linking identities using bayesian network inference. In Proc. of Computer Vision and Pattern Recognition, pages 2187-2194.
  18. Särkkä, S., Vehtari, A., and Lampinen, J. (2004). Raoblackwellized monte carlo data association for multiple target tracking. In Proc. of Intl Conf. on Information Fusion, volume 7, Stockholm.
  19. Särkkä, S., Vehtari, A., and Lampinen, J. (2007). Raoblackwellized particle filter for multiple target tracking. Information Fusion Journal, 8(1):2-15.
  20. Sullivan, J. and Carlsson, S. (2006). Tracking and labelling of interacting multiple targets. In Proc. of European Conf. on Computer Vision, pages 619-632.
  21. Yang, C., Duraiswami, R., and Davis, L. (2005). Fast multiple object tracking via a hierarchical particle filter. In Proc. of Intl. Conf. on Computer Vision, volume 1, pages 212-219.
Download


Paper Citation


in Harvard Style

v. Hoyningen-Huene N. and Beetz M. (2009). RAO-BLACKWELLIZED RESAMPLING PARTICLE FILTER FOR REAL-TIME PLAYER TRACKING IN SPORTS . In Proceedings of the Fourth International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2009) ISBN 978-989-8111-69-2, pages 465-472. DOI: 10.5220/0001788804650472


in Bibtex Style

@conference{visapp09,
author={Nicolai v. Hoyningen-Huene and Michael Beetz},
title={RAO-BLACKWELLIZED RESAMPLING PARTICLE FILTER FOR REAL-TIME PLAYER TRACKING IN SPORTS},
booktitle={Proceedings of the Fourth International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2009)},
year={2009},
pages={465-472},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001788804650472},
isbn={978-989-8111-69-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2009)
TI - RAO-BLACKWELLIZED RESAMPLING PARTICLE FILTER FOR REAL-TIME PLAYER TRACKING IN SPORTS
SN - 978-989-8111-69-2
AU - v. Hoyningen-Huene N.
AU - Beetz M.
PY - 2009
SP - 465
EP - 472
DO - 10.5220/0001788804650472