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Data association and occlusion handling for vision-based people tracking by mobile robots
- Source :
- IROS
- Publication Year :
- 2010
- Publisher :
- Elsevier B.V., 2010.
-
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.
- Subjects :
- G740 Computer Vision
Learning classifier system
business.industry
Computer science
General Mathematics
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
Mobile robot
G400 Computer Science
Tracking (particle physics)
Sensor fusion
H670 Robotics and Cybernetics
Computer Science Applications
H671 Robotics
Control and Systems Engineering
Computer vision
Artificial intelligence
AdaBoost
business
Software
Subjects
Details
- Language :
- English
- Database :
- OpenAIRE
- Journal :
- IROS
- Accession number :
- edsair.doi.dedup.....52f331c789644d90b7f8c55fbfdce732