Dynamic Track Management in MHT for Pedestrian Tracking Using Laser Range Finder

Real time pedestrian tracking could be one of the important features for autonomous navigation. Laser Range Finder (LRF) produces accurate pedestrian data but a problem occurs when a pedestrian is represented by multiple clusters which affect the overall tracking process. Multiple Hypothesis Tracking (MHT) is a proven method to solve tracking problem but suffers a large computational cost. In this paper, a multilevel clustering of LRF data is proposed to improve the accuracy of a tracking system by adding another clustering level after the feature extraction process. A Dynamic Track Management (DTM) is introduced in MHT with multiple motion models to perform a track creation, association, and deletion. The experimental results from real time implementation prove that the proposed multiclustering is capable of producing a better performance with less computational complexity for a track management process. The proposed Dynamic Track Management is able to solve the tracking problem with lower computation time when dealing with occlusion, crossed track, and track deletion.