Treptow, Andre, 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 content URL: http://dx.doi.org/10.1016/j.robot.2006.04.013
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| Item Type: | Article |
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| Item Status: | Live Archive |
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
| 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 |
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| 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 On: | 20 Sep 2007 |
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