Multi-camera Tracking and Segmentation of Occluded People on Ground Plane Using Search-Guided Particle Filtering

  • Kyungnam Kim
  • Larry S. Davis
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3953)


A multi-view multi-hypothesis approach to segmenting and tracking multiple (possibly occluded) persons on a ground plane is proposed. During tracking, several iterations of segmentation are performed using information from human appearance models and ground plane homography. To more precisely locate the ground location of a person, all center vertical axes of the person across views are mapped to the top-view plane and their intersection point on the ground is estimated. To tackle the explosive state space due to multiple targets and views, iterative segmentation-searching is incorporated into a particle filtering framework. By searching for people’s ground point locations from segmentations, a set of a few good particles can be identified, resulting in low computational cost. In addition, even if all the particles are away from the true ground point, some of them move towards the true one through the iterated process as long as they are located nearby. We demonstrate the performance of the approach on several video sequences.


Ground Plane Color Model Appearance Model Camera View Multiple Camera 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Kyungnam Kim
    • 1
    • 2
  • Larry S. Davis
    • 1
  1. 1.Computer Vision LabUniversity of MarylandCollege ParkUSA
  2. 2.IPIX CorporationReston

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