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

By Grzegorz Cielniak, Tom Duckett and J. Achim Lilienthal


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

Topics: H670 Robotics and Cybernetics, H671 Robotics, G740 Computer Vision
Publisher: IEEE
Year: 2007
DOI identifier: 10.1016/j.robot.2006.04.013
OAI identifier:

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