SYSTEMS AND METHODS FOR TRACKING INTERACTING OBJECTS

摘要

Systems and methods for tracking interacting objects may acquire, with a sensor, and two or more images associated with two or more time instances. A processor may generate image data from the two or more images. The processor may apply an extended Probability Occupancy Map (POM) algorithm to the image data to obtain probability of occupancy for a container class of potentially interacting objects, probability of occupancy for a containee class of the potentially interacting objects, and a size relationship of the potentially interacting objects, over a set of discrete locations on a ground plane for each time instance. The processor may estimate trajectories of an object belonging to each of the two classes by determining a solution of a tracking model on the basis of the occupancy probabilities and a set of rules describing the interaction between objects of different or the same classes.

主权项

1. A method for tracking interacting objects comprising:
acquiring, with at least one sensor, at least two images associated with at least two time instances; generating, with at least one processor, image data from the at least two images; applying, with the at least one processor, an extended Probability Occupancy Map (POM) algorithm to the image data to obtain probability of occupancy for a container class of potentially interacting objects, probability of occupancy for a containee class of the potentially interacting objects, and a size relationship of the potentially interacting objects, over a set of discrete locations on a ground plane for each time instance; and estimating, with the at least one processor, trajectories of at least one object belonging to each of the two classes by determining a solution of a tracking model on the basis of the occupancy probabilities and a set of rules describing the interaction between objects of different or the same classes.