Tomasz Krzeszowsk Bogda Kwolek Korad Wojcechowsk Arculaed Body Moo Trackg by Combed Parcle Swarm Opmzao ad Parcle Flerg 1 www.hm.pjwsk.edu.pl Warszawa 2010-12-28
Pla The problem Tesed Flers PSO algorhm for huma moo rackg Demosrao of rackg Epermeal resuls www.hm.pjwsk.edu.pl 2
The problem Trackg he arculaed huma body moo Hgh dmesoal search space ad hgh varably huma appearace Parcle Swarm Opmzao PSO algorhm for huma moo rackg www.hm.pjwsk.edu.pl 3
Huma body rackg www.hm.pjwsk.edu.pl 4
The corbuo Arculaed huma body moo rackg s doe va PSO - PF algorhm Parcle Swarm Op. - Parcle Flerg Our PSO - PF algorhm combes he advaages of PSO ad PF algorhms www.hm.pjwsk.edu.pl 5
Tesed flers PSO PSO - Parcle Fler Parcle Fler Aealed Parcle Fler Mea - Shf www.hm.pjwsk.edu.pl 6
Trackg Probablsc Approach Oe of he goals of vsual rackg s o esmae he saes of he objecs of eres from mage sequeces. The problem of rackg ca be formulaed as he Bayesa flerg p www.hm.pjwsk.edu.pl Z p z p 1 p 1 Z 1 d 1 where ad z deoe he hdde sae of he objec of eres ad observao vecor a dscree me, respecvely, whereas Z deoes all he observaos up o curre me sep 7
8 www.hm.pjwsk.edu.pl Sarg wh a weghed parcles se appromaely dsrbued accordg o p -1 Z -1 he parcle fler operaes hrough predcg ew samples from a proposal dsrbuo. To gve a ew parcle represeao of he poseror desy p Z he samples are se o: Parcle Flerg Each sample represes he hypohecal sae of he objec 1 1 1 measureme dyamcs Z p Z p Z p, q p p z z 1 1 1 π π { } N S 1 1 1 = =, π { } N S 1 = =, π
Parcle Fler www.hm.pjwsk.edu.pl 9
Aealed Parcle Fler www.hm.pjwsk.edu.pl 10
Mea - Shf www.hm.pjwsk.edu.pl 11
PSO - algorhm 1.Fuco yˆ = 2. If 3. Ialze 4. Repea v PSO y == [] empy mar,alze, =, f y = arg m f 5. 6. 7. 8. 9. 10. 11. For each parcle Do v, j, j = ωv + c + v y Evaluae fuco f If If =, j, j f < f y <, j r 1 1, j + c yˆ f y, updae he local bes value, j f yˆ, updae he global bes value Ul umber of fuco evaluao < ma_er, j r 2, j j a updaed poso 2, j y yˆ = = y www.hm.pjwsk.edu.pl 12
PSO - PF algorhm 1. Selec: 2.Predc: 3.Shf : 4.Re- wegh: 5. Esmae: Radomly selec Updaeweghs o oba N { s, π } parclesfrom Perurbdvdualparcles Shf he parcles va he PSO Esmae hesae usg he mea { s } 1 Ge he lkelhoodfor each ew sample. E based o weghsπ [ ] N = 1 π s 1 www.hm.pjwsk.edu.pl 13
Observao model fess fuco www.hm.pjwsk.edu.pl 14
Smulao framework www.hm.pjwsk.edu.pl 15
Huma rackg smulao framework www.hm.pjwsk.edu.pl 16
17 www.hm.pjwsk.edu.pl Epermeal resuls 5.60 0.75 10 500 APF 3.50 0.74 3 1000 KPF 1.36 0.78 5 200 3.41 0.81 5 500 2.50 0.80 10 200 6.24 0.82 10 500 PSO - PF 1.36 0.76 5 200 3.40 0.78 5 500 2.49 0.76 10 200 6.20 0.80 10 500 PSO 5.69 0.73 5000 11.39 0.74 10000 PF me [s] overlap [%] # #parcles
Marker-less based huma rackg www.hm.pjwsk.edu.pl 18
Coclusos Effecve algorhm for rackg huma moo PSO - PF algorhm acheves bes resul boh erms of accuracy of he rackg ad compuao me PSO - PF was compared wh PSO, Kerel Parcle Fler, Aealed Parcle Fler ad ordary Parcle Fler www.hm.pjwsk.edu.pl 19
PJWSTK - Wydzał Zamejscowy Iformayk w Byomu Aleja Legoów 2, 41-902 Byom el.: +48 32 387-16-62 +48 32 387-16-62 fa: +48 32 389-01-31 Koak meryoryczy: prof. dr hab. ż. Korad Wojcechowsk Kerowk projeku kwojcechowsk@pjwsk.edu.pl Koak admsracyjy: Aleksadra Szołysk aszolysk@pjwsk.edu.pl www.hm.pjwsk.edu.pl Sysem wraz z bbloeką modułów dla zaawasowaej aalzy erakywej syezy ruchu posac ludzkej Projek współfasoway ze środków Europejskego Fuduszu Rozwoju Regoalego w ramach Programu Operacyjego Iowacyja Gospodarka 2007-2013. Dzałae 1.3, Poddzałae 1.3.1. Warszawa 2010-12-28 20