Improved data association and occlusion handling for vision-based people tracking by mobile robots

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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Improved Data Association and Occlusion Handling for Vision-Based People Tracking by Mobile Robots
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.
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Official URL: http://dx.doi.org/10.1109/IROS.2007.4399507

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 Science > School of Computer Science
ID Code:1848
Deposited By: Grzegorz Cielniak
Deposited On:23 Mar 2009 16:11
Last Modified:13 Mar 2013 08:31

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