Abstract

This paper shows how the output of a number of detection and tracking algorithms can be fused to achieve robust tracking of peo- ple in an indoor environment. The new tracking system contains three co-operating parts: i ) an Active Shape Tracker using a PCA-generated model of pedestrian outline shapes, ii ) a Region Tracker, featuring re- gion splitting and merging for multiple hypothesis matching, and iii ) a Head Detector to aid in the initialisation of tracks. Data from the three parts are fused together to select the best tracking hypotheses. The new method is validated using sequences from surveillance cam- eras in a underground station. It is demonstrated that robust realtime tracking of people can be achieved with the new tracking system using standard PC hardware.