SBIR Phase I: Using Hidden Markov Models to Track Human Targets

这个小企业创新研究第一阶段项目将研究实施一种新型多传感器数据融合技术的可行性，以实现低成本的目标跟踪。文献表明，当存在模糊检测、噪声和杂波时，隐马尔可夫模型明显优于其他多目标跟踪方法。这里的主要目标是证明利用隐马尔可夫模型跟踪人类目标的可行性。目标跟踪问题可以看作是开发一个模型，使模型对目标坐标{Xout(t), Yout(t)}的估计与由{Xactual(t), Yactual(t)}给出的实际坐标之间的差最小化。在实践中，这必须对不同数量的独立目标同时进行。然而，第一阶段的工作将集中于单个目标跟踪，而将多个目标跟踪留给随后的第二阶段项目。用于在第一阶段实现模型的可移植代码将在第二阶段的多个目标细化之后被合并到基于微处理器的系统中。合成的传感器数据将首先用于开发跟踪模型。然后，这些数据将与超声波传感器的测量数据相补充，以进一步完善跟踪模型。人体跟踪系统的直接应用包括用于安保、安全以及人类或动物行为观察系统的视频监控。该设备配有聚光灯，将为远程搜索和救援行动、光线不足的建筑物的紧急疏散、犯罪威慑和夜间监视追踪逃跑的囚犯提供照明路径。该系统也将非常适合作为视频目标跟踪和识别系统的补充。该奖项由小企业创新研究计划和刺激竞争研究实验计划（EPSCoR）支持。

This Small Business Innovation Research Phase I project will investigate the feasibility Of implementing a novel multi-sensor data fusion technique for low cost target tracking. Literature suggests that Hidden Markov Models significantly out perform other methods of multiple target tracking when ambiguous detections, noise, and clutter are present. The primary objective here is to demonstrate the feasibility of utilizing Hidden Markov Models to track human targets. The target tracking problem can be viewed as one of developing a model that minimizes the difference between the model's estimate of the target coordinates {Xout(t), Yout(t)} and the actual coordinates given by {Xactual(t), Yactual(t)}. In practice, this must be done simultaneously for a varying number of independent targets. However, this Phase I effort will focus on single target tracking and leave multiple target tracking to the subsequent Phase II project. Portable code used to implement models in Phase I will be incorporated in a microprocessor-based system following multiple target refinement in Phase II. Synthesized sensor data will be used initially to develop tracking models. These data will then be supplemented with measured data from ultrasonic sensors, in order to further refine the tracking model. Direct applications of the human tracking system include video surveillance for security, safety, and human or animal behavioral observation systems. With spotlight attachments the device will provide an illuminated path for remote search and rescue operations, emergency evacuation in poorly lit buildings, crime deterrence, and night surveillance tracking of escaping prisoners. This system will also be well suited as a supplement to a video target tracking and identification system. This award is supported by the Small Business Innovation Research Program and the Experimental Program to Stimulate Competitive Research (EPSCoR).