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Abstract. This paper presents a Bayesian framework for multi-cue 3D object tracking of deformable objects. The proposed spatio-temporal object representation involves a set of distinct linear subspace models or Dynamic Point Distribution Models (DPDMs), which can deal with both continuous and discontinuous appearance changes; the representation is learned fully automatically from training data. The representation is enriched with texture information by means of intensity histograms, which are compared using the Bhattacharyya coefficient. Direct 3D measurement is furthermore provided by a stereo system. State propagation is achieved by a particle filter which combines the three cues shape, texture and depth, in its observation density function. The tracking framework integrates an independently operating object detection system by means of importance sampling. We illustrate the benefit of our integrated multi-cue tracking approach on pedestrian tracking from a moving vehicle.

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This paper presents a method for improving the performance of matching systems that correlate using shape templates. The basic idea involves extending an existing set of training shapes with generated "virtual" shapes, in order to improve representational capability. Yet no a-priori feature correspondence is necessary among the original shapes in the training set. Instead, an integrated clustering and registration approach partitions the original shape samples into clusters of similar and registered shapes; in each cluster a separate feature space is embedded. This allows for each cluster the derivation of standard compact parameterizations. This paper demonstrates that sampling these low-order spaces can produce an extended training set which facilitates a superior matching performance, as measured by a ROC curve. In the experiments, we consider a realistic application involving thousands of pedestrian shapes and perform correlation matching based on distance transforms.