Rotational Kinematics Model Based Adaptive Particle Filter for Robust Human Tracking in Thermal Omnidirectional Vision. (16th September 2015)

• Record Type: Journal Article
• Authors: Tang, Yazhe; Luo, Jun; Li, Y. F.; Zhou, Xiaolong
• Other Names: Zhong Shouming Academic Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2015(2015)
• Publication Date: 2015-09-16
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2015/347497
• Languages: English
• ISSNs: 1024-123X

Abstract

Abstract : This paper presents a novel surveillance system named thermal omnidirectional vision (TOV) system which can work in total darkness with a wild field of view. Different to the conventional thermal vision sensor, the proposed vision system exhibits serious nonlinear distortion due to the effect of the quadratic mirror. To effectively model the inherent distortion of omnidirectional vision, an equivalent sphere projection is employed to adaptively calculate parameterized distorted neighborhood of an object in the image plane. With the equivalent projection based adaptive neighborhood calculation, a distortion-invariant gradient coding feature is proposed for thermal catadioptric vision. For robust tracking purpose, a rotational kinematic modeled adaptive particle filter is proposed based on the characteristic of omnidirectional vision, which can handle multiple movements effectively, including the rapid motions. Finally, the experiments are given to verify the performance of the proposed algorithm for human tracking in TOV system.