Data association and occlusion handling for vision-based people tracking by mobile robots
✍ Scribed by Grzegorz Cielniak; Tom Duckett; Achim J. Lilienthal
- Publisher
- Elsevier Science
- Year
- 2010
- Tongue
- English
- Weight
- 1023 KB
- Volume
- 58
- Category
- Article
- ISSN
- 0921-8890
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✦ Synopsis
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.