DocumentCode :
3527349
Title :
Multi-sensor identity tracking with event graphs
Author :
Morton, Peter ; Douillard, Bertrand ; Underwood, James
Author_Institution :
Sch. of Aerosp., Mech. & Mechatron. Eng., Univ. of Sydney, Sydney, NSW, Australia
fYear :
2013
fDate :
6-10 May 2013
Firstpage :
4742
Lastpage :
4748
Abstract :
The ability to track moving objects is a key part of autonomous robot operation in real-world environments. Whilst for many tasks knowing the positions of objects may be sufficient, tracking the identity of targets may also be desirable. When objects are well separated preserving identities is trivial, however, the identities of objects that pass close to one another may become confused. This paper considers methods to maintain the identities of tracked objects using a combination of LIDAR and video data. When objects are well separated, they are tracked using location information from the LIDAR. When objects move together and their identities cannot be resolved, interactions are recorded and later resolved using appearance models. A vision based approach is adapted for use with LIDAR data and a new method for identity reasoning is proposed. The methods are validated on a dataset comprising a total of 37906 manually labelled point cloud segments.
Keywords :
graph theory; image fusion; image motion analysis; image segmentation; mobile robots; optical radar; radar imaging; robot vision; target tracking; LIDAR data; appearance models; autonomous robot operation; event graphs; identity reasoning method; location information; manually-labelled point cloud segments; moving object tracking; multisensor identity tracking; object positions; real-world environments; target identity tracking; video data; vision-based approach; Cameras; Cognition; Image color analysis; Laser radar; Target tracking; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
ISSN :
1050-4729
Print_ISBN :
978-1-4673-5641-1
Type :
conf
DOI :
10.1109/ICRA.2013.6631252
Filename :
6631252
Link To Document :
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