期刊
IEEE ACCESS
卷 10, 期 -, 页码 118512-118521出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2022.3220635
关键词
Kalman filter; multi-object tracking; movement behavior; multi-pedestrian tracking; AFM
资金
- Key Research and Development Program of ShanXi Province [202102010101008]
- Public Transport Intelligent Monitoring System Based on 5G Communication
This paper proposes a two-dimensional field-of-view avoidance force model (AFM) to assist the Kalman filter prediction by sensing avoidance force for pedestrian tracking in crowded scenes. Experimental results show that compared with the FairMOT model, this method improves MOTA by 2.7% and IDF1 by 2.2% on the MOT20 dataset, and also performs well on the MOT15, MOT16, and MOT17 tracking benchmarks.
Most multi-object tracking methods have achieved good results in tracking multiple pedestrians with Kalman filter, but their tracking performance in crowded scenes is still poor due to pedestrian avoidance and frequent occlusion. In crowded scenes, the pedestrian trajectory prediction with Kalman filter alone is unreliable. In this paper, a two-dimensional field-of-view avoidance force model (AFM) is proposed to assist the Kalman filter prediction by sensing the avoidance force and then complete pedestrian tracking. In the model, each pedestrian has a two-dimensional field of view to perceive the avoidance force, which determines the next predicted trajectory. In real scenes, pedestrians tend to be more concerned about the surrounding area, so different areas are set to simulate the attention mechanisms of pedestrians in real scenes. In the FairMOT model, AFM is used to optimize the pedestrian state values of Kalman filter prediction and the optimized model is trained on the MOT16 dataset. The experimental results on the MOT20 dataset show that compared with the mainstream tracking model FairMOT, our method respectively improves MOTA by 2.7% and IDF1 by 2.2%. Our method also achieves the good performance on MOT15, MOT16, and MOT17 tracking benchmarks.
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