Bayesian 3D tracking from monocular video

Ernesto Brau, Jinyan Guan, Kyle Simek, Luca Del Pero, Colin Reimer Dawson, Kobus Barnard

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Scopus citations


We develop a Bayesian modeling approach for tracking people in 3D from monocular video with unknown cameras. Modeling in 3D provides natural explanations for occlusions and smoothness discontinuities that result from projection, and allows priors on velocity and smoothness to be grounded in physical quantities: meters and seconds vs. pixels and frames. We pose the problem in the context of data association, in which observations are assigned to tracks. A correct application of Bayesian inference to multi-target tracking must address the fact that the model's dimension changes as tracks are added or removed, and thus, posterior densities of different hypotheses are not comparable. We address this by marginalizing out the trajectory parameters so the resulting posterior over data associations has constant dimension. This is made tractable by using (a) Gaussian process priors for smooth trajectories and (b) approximately Gaussian likelihood functions. Our approach provides a principled method for incorporating multiple sources of evidence, we present results using both optical flow and object detector outputs. Results are comparable to recent work on 3D tracking and, unlike others, our method requires no pre-calibrated cameras.

Original languageEnglish (US)
Title of host publicationProceedings - 2013 IEEE International Conference on Computer Vision, ICCV 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages8
ISBN (Print)9781479928392
StatePublished - 2013
Event2013 14th IEEE International Conference on Computer Vision, ICCV 2013 - Sydney, NSW, Australia
Duration: Dec 1 2013Dec 8 2013

Publication series

NameProceedings of the IEEE International Conference on Computer Vision


Other2013 14th IEEE International Conference on Computer Vision, ICCV 2013
CitySydney, NSW


  • 3D scene modeling
  • Bayesian inference
  • multi-object tracking

ASJC Scopus subject areas

  • Software
  • Computer Vision and Pattern Recognition


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