Normal Distribution Mixture Matching based Model Free Object Tracking Using 2D LIDAR In this paper, a novel normal distribution mixture matching based model free object tracking algorithm using 2D LIDAR is proposed. Each target object is modeled as a normal distribution mixture that captures the distribution of the points scanned from the surface of the object. This novel representation enables normal distribution transform (NDT) to accurately estimate the motion of objects, even if the shape of the points differs depending on where it is observed. Our evaluation of the proposed algorithm shows good performance in practical applications. In addition, we provides an alternative way of segmentation and data association using occupancy grid map to avoid a problem that defines a distance metric between the mixture and the point cloud. As a result, the proposed algorithm works in real time in our experiments.

Improved Gaussian Mixture Model for the Task of Object Tracking This paper presents an object tracking system. Our goal is to create a realtime object tracker that can handle occlusions, track multiple objects that are rigid or deformable, and on indoor or outdoor sequences. This system is composed of two main modules: motion detection and object tracking. Motion detection is achieved using an improved Gaussian mixture model. Based on multiple hypothesis of object appearance, tracking is achieved on various levels. The core of this module uses regions local and global information to match these regions over the frame sequence. Then higher level instances are used to handle uncertainty, such as missmatches, objects disappearance, and occlusions. Finally, merges and splits are detected for further occlusions detection.