Performance Measurements for Evaluating Static and Dynamic Multiple Human Detection and Tracking Systems in Unstructured Environments

Published

June 30, 2010

Author(s)

Bodt Bodt, Richard Camden, Harry A. Scott, Adam S. Jacoff, Tsai H. Hong, Tommy Chang, Richard J. Norcross, Anthony Downs, Ann Virts

Abstract

The Army Research Laboratory (ARL) Robotics Collaborative Technology Alliance (CTA) conducted an assessment and evaluation of multiple algorithms for real-time detection of pedestrians in Laser Detection and Ranging (LADAR) and video sensor data taken from a moving platform. The algorithms were developed by Robotics CTA members and then assessed in field experiments jointly conducted by the National Institute of Standards and Technology (NIST) and ARL. A robust, accurate and independent pedestrian tracking system was developed to provide ground truth. The ground truth was used to evaluate the CTA member algorithms for uncertainty and error in their results. A real-time display system was used to provide early detection of errors in data collection.

Proceedings Title

Proceedings of the Performance Metrics for Intelligent Systems (PerMIS) 2009

Conference Dates

September 21-23, 2009

Conference Location

Gaithersburg, MD, US

Pub Type

Conferences

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Keywords

Unmanned ground vehicle, experimental design, ground truth, pedestrian tracking, metrics, perception, performance evaluation

Citation

Bodt, B. , Camden, R. , Scott, H. , Jacoff, A. , Hong, T. , Chang, T. , Norcross, R. , Downs, A. and Virts, A. (2010), Performance Measurements for Evaluating Static and Dynamic Multiple Human Detection and Tracking Systems in Unstructured Environments, Proceedings of the Performance Metrics for Intelligent Systems (PerMIS) 2009, Gaithersburg, MD, US, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=904192 (Accessed October 27, 2025)