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Authors: Rui Figueiredo 1 ; João Avelino 1 ; Atabak Dehban 1 ; Alexandre Bernardino 1 ; Pedro Lima 1 and Helder Araújo 2

Affiliations: 1 Instituto Superior Técnico, Portugal ; 2 Universidade de Coimbra, Portugal

ISBN: 978-989-758-227-1

Keyword(s): Active Sensing, Constrained Resource Allocation, Multiple Object Tracking.

Related Ontology Subjects/Areas/Topics: Active and Robot Vision ; Computer Vision, Visualization and Computer Graphics ; Image and Video Analysis ; Motion, Tracking and Stereo Vision ; Video Surveillance and Event Detection ; Visual Attention and Image Saliency

Abstract: In this work we address the multiple person tracking problem with resource constraints, which plays a fundamental role in the deployment of efficient mobile robots for real-time applications involved in Human Robot Interaction. We pose the multiple target tracking as a selective attention problem in which the perceptual agent tries to optimize the overall expected tracking accuracy. More specifically, we propose a resource constrained Partially Observable Markov Decision Process (POMDP) formulation that allows for real-time on-line planning. Using a transition model, we predict the true state from the current belief for a finite-horizon, and take actions to maximize future expected belief-dependent rewards. These rewards are based on the anticipated observation qualities, which are provided by an observation model that accounts for detection errors due to the discrete nature of a state-of-the-art pedestrian detector. Finally, a Monte Carlo Tree Search method is employed to solve the p lanning problem in real-time. The experiments show that directing the attentional focci to relevant image sub-regions allows for large detection speed-ups and improvements on tracking precision. (More)

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Paper citation in several formats:
Figueiredo, R.; Avelino, J.; Dehban, A.; Bernardino, A.; Lima, P. and Araújo, H. (2017). Efficient Resource Allocation for Sparse Multiple Object Tracking.In Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 6 VISAPP: VISAPP, (VISIGRAPP 2017) ISBN 978-989-758-227-1, pages 300-307. DOI: 10.5220/0006173103000307

@conference{visapp17,
author={Rui Figueiredo. and João Avelino. and Atabak Dehban. and Alexandre Bernardino. and Pedro Lima. and Helder Araújo.},
title={Efficient Resource Allocation for Sparse Multiple Object Tracking},
booktitle={Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 6 VISAPP: VISAPP, (VISIGRAPP 2017)},
year={2017},
pages={300-307},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006173103000307},
isbn={978-989-758-227-1},
}

TY - CONF

JO - Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 6 VISAPP: VISAPP, (VISIGRAPP 2017)
TI - Efficient Resource Allocation for Sparse Multiple Object Tracking
SN - 978-989-758-227-1
AU - Figueiredo, R.
AU - Avelino, J.
AU - Dehban, A.
AU - Bernardino, A.
AU - Lima, P.
AU - Araújo, H.
PY - 2017
SP - 300
EP - 307
DO - 10.5220/0006173103000307

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