Cielniak, Grzegorz and Duckett, Tom and Lilienthal, J. Achim (2007) Improved data association and occlusion handling for vision-based people tracking by mobile robots. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 29 - November 2, San Diego, CA, USA.

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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.

Item Type:	Conference or Workshop Item (Paper)
Additional Information:	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:	People Tracking, Mobile Robots, Occlusion Handling, AdaBoost Detector, robot vision
Subjects:	H Engineering > H670 Robotics and Cybernetics H Engineering > H671 Robotics G Mathematical and Computer Sciences > G740 Computer Vision
Divisions:	College of Sciences > Faculty of Science > Lincoln School of Computer Science
Depositing User:	Grzegorz Cielniak
Date Deposited:	23 Mar 2009 16:11
Last Modified:	13 Mar 2013 08:31
URI:	http://eprints.lincoln.ac.uk/id/eprint/1848

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