Real-time people tracking for mobile robots using thermal vision

Treptow, Andre and Cielniak, Grzegorz and Duckett, Tom (2006) Real-time people tracking for mobile robots using thermal vision. Robotics and Autonomous Systems, 54 (9). p. 729. ISSN 0921-8890

Full text not available from this repository.

Full text URL: http://dx.doi.org/10.1016/j.robot.2006.04.013

Abstract

This paper presents a vision-based approach for tracking people on a mobile robot using thermal images. The approach combines a particle filter with two alternative measurement models that are suitable for real-time tracking. With this approach a person can be detected independently from current light conditions and in situations where no skin colour is visible. In addition, the paper presents a comprehensive, quantitative evaluation of the different methods on a mobile robot in an office environment, for both single and multiple persons. The results show that the measurement model that was learned from local grey-scale features could improve on the performance of the elliptic contour model, and that both models could be combined to further improve performance with minimal extra computational cost

Item Type:Article
Additional Information:This paper presents a vision-based approach for tracking people on a mobile robot using thermal images. The approach combines a particle filter with two alternative measurement models that are suitable for real-time tracking. With this approach a person can be detected independently from current light conditions and in situations where no skin colour is visible. In addition, the paper presents a comprehensive, quantitative evaluation of the different methods on a mobile robot in an office environment, for both single and multiple persons. The results show that the measurement model that was learned from local grey-scale features could improve on the performance of the elliptic contour model, and that both models could be combined to further improve performance with minimal extra computational cost
Keywords:Adaptive boosting, Quantitative performance evaluation, Autonomous robots, People detection, Unified tracking, computer vision, Surveillance
Subjects:H Engineering > H670 Robotics and Cybernetics
Divisions:College of Science > School of Computer Science
ID Code:1201
Deposited By: Bev Jones
Deposited On:20 Sep 2007
Last Modified:18 Jul 2011 16:17

Repository Staff Only: item control page