Target Tracking Using a Joint Acoustic Video SystemVolkan Cevher, Aswin C. Sankaranarayanan, James H. McClellan, and Rama Chellappa |
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Abstract:
In this paper, a multi-target tracking system for
collocated video and acoustic sensors is presented. We formulate
the tracking problem using a particle filter based on a state space
approach. We first discuss the acoustic state space formulation
whose observations use a sliding window of direction-of-arrival
estimates. We then present the video state space that tracks a
targets position on the image plane based on online adaptive
appearance models. For the joint operation of the filter, we
combine the state vectors of the individual modalities and also
introduce a time delay variable to handle the acoustic-video data
synchronization issue, caused by acoustic propagation delays.
A novel particle filter proposal strategy for joint state space
tracking is introduced, which places the random support of the
joint filter where the final posterior is likely to lie. By using the
Kullback-Leibler divergence measure, it is shown that the joint
operation of the filter decreases the worst case divergence of the
individual modalities. The resulting joint tracking filter is quite
robust against video and acoustic occlusions due to our proposal
strategy. Computer simulations are presented with synthetic and
field data to demonstrate the filter's performance.
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| IEEE Transactions on Multimedia , vol. 9, pp. 715-727, June 2007. (pdf) |