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

By Grzegorz Cielniak, Tom Duckett and Achim J. Lilienthal

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

Topics: H670 Robotics and Cybernetics, G400 Computer Science, H671 Robotics, G740 Computer Vision
Publisher: Elsevier B.V.
Year: 2010
DOI identifier: 10.1016/j.robot.2010.02.004
OAI identifier: oai:eprints.lincoln.ac.uk:2277

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