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2010

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

8 years 8 months ago
Data association and occlusion handling for vision-based people tracking by mobile robots
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. Key words: AdaBoost, Occlusion Detection, Thermal Vision, Colour Vision, Bayesian estimation
Grzegorz Cielniak, Tom Duckett, Achim J. Lilientha
Added 30 Jan 2011
Updated 30 Jan 2011
Type Journal
Year 2010
Where RAS
Authors Grzegorz Cielniak, Tom Duckett, Achim J. Lilienthal
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