Multi-Person 3D Tracking with Particle Filters on Voxels

This paper presents a new approach to the problem of simultaneous tracking of several people in low resolution sequences from multiple calibrated cameras. Spatial redundancy is exploited to generate a discrete 3D binary representation of the scene. A particle filtering scheme adapted to the incoming 3D discrete data is proposed. A volume likelihood function and a discrete 3D re-sampling procedure are introduced to evaluate and drive particles. Multiple targets are tracked by means of multiple particle filters and interaction among them is modeled through a 3D blocking scheme. Test over annotated databases yield quantitative results showing the effectiveness of the proposed algorithm in the indoor scenarios.