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

Cielniak, Grzegorz and Duckett, Tom and Lilienthal, Achim J. (2010) Data association and occlusion handling for vision-based people tracking by mobile robots. Robotics and Autonomous Systems, 58 (5). pp. 435-443. ISSN 0921-8890

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Data association and occlusion handling for vision-based people tracking by mobile robots
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Official URL: http://dx.doi.org/10.1016/j.robot.2010.02.004

Abstract

This paper presents an approach for tracking multiple persons on a mobile robot with a combination of colour and thermal vision sensors, using several new techniques. 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 incorporated into the tracker. The paper presents a comprehensive, quantitative evaluation of the whole system and its different components using several real world data sets.

Item Type:Article
Keywords:AdaBoost, Occlusion Detection, Thermal Vision, Colour Vision, Bayesian estimation
Subjects:H Engineering > H670 Robotics and Cybernetics
G Mathematical and Computer Sciences > G400 Computer Science
H Engineering > H671 Robotics
G Mathematical and Computer Sciences > G740 Computer Vision
Divisions:College of Science > School of Computer Science
ID Code:2277
Deposited By: Grzegorz Cielniak
Deposited On:07 Apr 2010 16:03
Last Modified:18 Nov 2013 16:09

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