Multi-Target Tracking in Smart Environments using Collaborative Sensing

Debraj De
Presentation 11/22/2011
Sensorweb Research Laboratory

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Georgia State University

Presentation Outline

Background of research problem Related works

Proposed solution
System evaluation plan

Sensorweb Research Laboratory

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Georgia State University

Background of research problem

Multi-user tracking in smart environments only with binary motion sensor network Not sufficient solution Error in path disambiguation if a number of users overlap/crossover at the same time

Sensorweb Research Laboratory

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Georgia State University

Background of research problem

Need collaborative sensing framework Binary motion sensing + user worn accelerometer Research problem: how to disambiguate path of each user Challenge: only a part of the users use accelerometer

Sensorweb Research Laboratory

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Georgia State University

Related works

Toward Cooperative Localization of Wearable Sensors using Accelerometer and Camera, Infocom 2010 PEM-ID: Identifying People by Gait-Matching using Cameras and Wearable Accelerometers, ICDSC 2009 Adaptive Calibration for Fusion-based Wireless Sensor Networks, Infocom 2010 Energy-efficient Trajectory Tracking for Mobile Devices,
MobiSys 2011

Sensorweb Research Laboratory

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Georgia State University

Related works

Problem with existing works: most of them use camera and accelerometer collaboration No work found (to my knowledge till now) using two relatively low-end sensors Also assumes each user wears at least one accelerometer

Sensorweb Research Laboratory

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Georgia State University

Proposed solution: system model

Path disambiguated multi-user tracking in smart environments using collaborative sensing between accelerometer and static binary motion sensor network Only a subset of users are wearing accelerometers (more practical scenario participatory sensing) We allow some users carrying phone or some devices that can communicate with motion sensor nodes (thus we allow heterogeneity)

Sensorweb Research Laboratory

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Georgia State University

Proposed solution: problem formulation

System model:
N motion sensor nodes K users K users with accelerometers

Example:

Sensorweb Research Laboratory

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Georgia State University

Proposed solution: problem formulation

Motion signature:

Accelerometer signature:

Sensorweb Research Laboratory

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Georgia State University

Proposed solution: problem formulation

Distance function between the signatures will denote how correlated they are:

Problem formulation: [P1] Distance Function calculation [P2] Displacement computation from accelerometer data [P3] Assignment problem: combinatorial optimization
-10Georgia State University

Sensorweb Research Laboratory

Proposed solution: [P1] distance function

Pearsons correlation coefficient is popular metric for signal similarity

We use this as our distance function D( )

Sensorweb Research Laboratory

-11-

Georgia State University

Proposed solution: [P2] displacement calculation

The displacement calculation using accelerometer should be independent of: Orientation angle User gait size User walking speed

Sensorweb Research Laboratory

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Georgia State University

Proposed solution: [P3] Assignment Problem

Classical assignment problem:

Consider the situation of assigning n jobs to n machines. When a job i (=1,2,....,n) is assigned to machine j (=1,2, .....n) that incurs a cost Cij. The objective is to assign the jobs to machines at the least possible total cost.

We will propose an iterative approach of matching track i with track i iteratively, such that activity transition graph is satisfied.
-13Georgia State University

Sensorweb Research Laboratory

Proposed solution: including communication

Problem: Shift, jitter and out of range motion of users with accelerometers Some users accelerometers will be able to communicate with motion sensor nodes This requires change in the accelerometer signature definition

Sensorweb Research Laboratory

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Georgia State University

Evaluation plan

Experiment setup: 6 users walking in 14th floor in random paths Collect ground truth 3 users wearing accelerometers Collect motion data and acc data in valve Parameters: Tracking error vs time Tracking error CDF Tracking error vs #of users with accelerometer

Sensorweb Research Laboratory

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Georgia State University

Evaluation plan

Comparison study User tracking evaluation in regular working day on 14th floor Show live GUI

Sensorweb Research Laboratory

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Georgia State University

Questions

Email: dde1@student.gsu.edu
Sensorweb Research Laboratory

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Georgia State University