A motion-enhanced hybrid Probability Hypothesis Density filter for real-time multi-human tracking in video surveillance scenarios

The Probability Hypothesis Density (PHD) filter is a multi-object Bayes filter which has been recently becoming popular in the tracking community especially for its linear complexity and its ability to filter out a high amount of clutter. However, its application to Computer Vision scenarios can be difficult as it requires high detection probabilities. Many human detectors suffer from a significant miss-match rate which causes problems for the PHD filter. This article presents an implementation of a Gaussian Mixture PHD (GM-PHD) filter which is enhanced by Optical Flow information in order to account for missed detections. We give a detailed mathematical discussion for the parameters of the proposed system and justify our results by extensive tests showing the performance in several contexts and on different datasets.