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Object tracking typically relies on a dynamic model to predict the object's location from its past trajectory. In crowded scenarios a strong dynamic model is particularly important, because more accurate predictions allow for smaller search regions, which greatly simplifies data association. Traditional dynamic models predict the location for each target solely based on its own history, without taking...
We present a wearable audio-visual capturing system, termed AWEAR 2.0, along with its underlying vision components that allow robust self-localization, multi-body pedestrian tracking, and dense scene reconstruction. Designed as a backpack, the system is aimed at supporting the cognitive abilities of the wearer. In this paper, we focus on the design issues for the hardware platform and on the performance...
We address the problem of vision-based multi-person tracking in busy pedestrian zones using a stereo rig mounted on a mobile platform. Specifically, we are interested in the application of such a system for supporting path planning algorithms in the avoidance of dynamic obstacles. The complexity of the problem calls for an integrated solution, which extracts as much visual information as possible...
In this paper, we address the problem of multiperson tracking in busy pedestrian zones using a stereo rig mounted on a mobile platform. The complexity of the problem calls for an integrated solution that extracts as much visual information as possible and combines it through cognitive feedback cycles. We propose such an approach, which jointly estimates camera position, stereo depth, object detection,...
We present a mobile vision system for multi-person tracking in busy environments. Specifically, the system integrates continuous visual odometry computation with tracking-by-detection in order to track pedestrians in spite of frequent occlusions and egomotion of the camera rig. To achieve reliable performance under real-world conditions, it has long been advocated to extract and combine as much visual...
In this paper, we address the challenging problem of simultaneous pedestrian detection and ground-plane estimation from video while walking through a busy pedestrian zone. Our proposed system integrates robust stereo depth cues, ground-plane estimation, and appearance-based object detection in a principled fashion using a graphical model. Object-object occlusions lead to complex interactions in this...
Accurate staging of nodal cancer still relies on surgical exploration because many primary malignancies spread via lymphatic dissemination. The purpose of this study was to utilize nanoparticle-enhanced lymphotropic magnetic resonance imaging (LN-MRI) to explore semi-automated noninvasive nodal cancer staging. We present a joint image segmentation and registration approach, which makes use of the...
This paper addresses the problem of camera self-calibration, bundle adjustment and 3D reconstruction from line segments in two images of poorly-textured indoor scenes. First, we generate line segment correspondences, using an extended version of our previously proposed matching scheme. The first main contribution is a new method to identify polyhedral junctions resulting from the intersections of...
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