Universiti Teknologi Malaysia Institutional Repository

Dynamic Track Management in MHT for Pedestrian Tracking Using Laser Range Finder

Abd. Rahman, Abdul Hadi and Zamzuri, Hairi and Mazlan, Saiful Amri and Abdul Rahman, Mohd. Azizi and Yamamoto, Yoshio and Samsuri, Saiful Bahri (2015) Dynamic Track Management in MHT for Pedestrian Tracking Using Laser Range Finder. Mathematical Problems In Engineering, 2015 . ISSN 1024-123X

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Official URL: http://dx.doi.org/10.1155/2015/545204


Real time pedestrian tracking could be one of the important features for autonomous navigation. Laser Range Finder (LRF) produces accurate pedestrian data but a problem occurs when a pedestrian is represented by multiple clusters which affect the overall tracking process. Multiple Hypothesis Tracking (MHT) is a proven method to solve tracking problem but suffers a large computational cost. In this paper, a multilevel clustering of LRF data is proposed to improve the accuracy of a tracking system by adding another clustering level after the feature extraction process. A Dynamic Track Management (DTM) is introduced in MHT with multiple motion models to perform a track creation, association, and deletion. The experimental results from real time implementation prove that the proposed multiclustering is capable of producing a better performance with less computational complexity for a track management process. The proposed Dynamic Track Management is able to solve the tracking problem with lower computation time when dealing with occlusion, crossed track, and track deletion.

Item Type:Article
Uncontrolled Keywords:feature extraction, problem solving, radar equipment, range finders, real time control
Subjects:A General Works
ID Code:58342
Deposited By: Haliza Zainal
Deposited On:04 Dec 2016 12:07
Last Modified:08 Feb 2017 16:33

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