DocumentCode :
2342197
Title :
Improved data association and occlusion handling for vision-based people tracking by mobile robots
Author :
Cielniak, Grzegorz ; Duckett, Tom ; Lilienthal, Achim J.
Author_Institution :
Univ. of Lincoln, Lincoln
fYear :
2007
fDate :
Oct. 29 2007-Nov. 2 2007
Firstpage :
3436
Lastpage :
3441
Abstract :
This paper presents an approach for tracking multiple persons using a combination of colour and thermal vision sensors on a mobile robot. First, an adaptive colour model is incorporated into the measurement model of the tracker. Second, a new approach for detecting occlusions is introduced, using a machine learning classifier for pairwise comparison of persons (classifying which one is in front of the other). Third, explicit occlusion handling is then incorporated into the tracker.
Keywords :
hidden feature removal; image representation; learning (artificial intelligence); mobile robots; robot vision; sensor fusion; adaptive colour model; data association; machine learning classifier; mobile robots; occlusion handling; vision-based people tracking; Cameras; Color; Mobile robots; Particle filters; Particle tracking; Rapid thermal processing; Robot sensing systems; Robot vision systems; Sensor systems; Thermal sensors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-0912-9
Electronic_ISBN :
978-1-4244-0912-9
Type :
conf
DOI :
10.1109/IROS.2007.4399507
Filename :
4399507
Link To Document :
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