Tracking with intent

Rolf H. Baxter*, Michael Leach, Neil M. Robertson

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)


This paper presents the novel theory for performing behaviour-based tracking using intentional priors. Motivated by our ultimate goal of anomaly detection, our approach is rooted in building better models of target behaviour. Our novel extension of the Kalman filter combines motion information with an intentional prior. We apply our 'Intentional Tracker' to a pedestrian surveillance and tracking problem, using head pose as the intentional prior. We perform a statistical analysis of pedestrian head pose behaviour and demonstrate tracking performance on a set of simulated and real pedestrian observations. We show that by using intentional priors our algorithm outperform a standard Kalman filter across a range of target trajectories.

Original languageEnglish
Title of host publication2014 Sensor Signal Processing for Defence (SSPD)
Place of PublicationNew York
Number of pages5
ISBN (Print)978-1-4799-5293-9
Publication statusPublished - 2014
Event4th Sensor Signal Processing for Defence 2014 - Edinburgh, Edinburgh, United Kingdom
Duration: 8 Sept 20149 Sept 2014


Conference4th Sensor Signal Processing for Defence 2014
Abbreviated titleSSPD 2014
Country/TerritoryUnited Kingdom


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