Simultaneous appearance modeling and segmentation for matching people under occlusion

We describe an approach to segmenting foreground regions corresponding to a group of people into individual humans. Given background subtraction and ground plane homography, hierarchical parttemplate matching is employed to determine a reliable set of human detection hypotheses, and progressive greedy optimization is performed to estimate the best configuration of humans under a Bayesian MAP framework. Then, appearance models and segmentations are simultaneously estimated in an iterative sampling-expectation paradigm. Each human appearance is represented by a nonparametric kernel density estimator in a joint spatial-color space and a recursive probability update scheme is employed for soft segmentation at each iteration. Additionally, an automatic occlusion reasoning method is used to determine the layered occlusion status between humans. The approach is evaluated on a number of images and videos, and also applied to human appearance matching using a symmetric distance measure derived from the Kullback-Leiber divergence.