Cielniak, Grzegorz, 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.
Full content URL: http://dx.doi.org/10.1109/IROS.2007.4399507
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cielniak07improved.pdf 713kB |
| Item Type: | Conference or Workshop contribution (Paper) |
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| Item Status: | Live Archive |
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.
| 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. |
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| 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 On: | 23 Mar 2009 16:11 |
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