Unsupervised Camera Localization in Crowded Spaces

Existing camera networks in public spaces such as train terminals or malls can help social robots to navigate crowded scenes. However, the localization of the cameras is required, i.e., the positions and poses of all cameras in a unique reference. In this work, we estimate the relative location of any pair of cameras by solely using noisy trajectories observed from each camera. We propose a fully unsupervised learningtechniqueusingunlabelledpedestriansmotionpatterns captured in crowded scenes. We first estimate the pairwise camera parameters by optimally matching single-view pedestrian tracks using social awareness. Then, we show the impact of jointly estimating the network parameters. This is done by formulating a nonlinear least square optimization problem, leveraging a continuous approximation of the matching function. We evaluate our approach in real-world environments such as train terminals, whereseveralhundredsofindividualsneedtobetrackedacross dozens of cameras every second.

Presented at:
IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 29 - June 3, 2017

 Record created 2017-08-21, last modified 2018-03-17

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