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

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

Experimental analysis of gas-sensitive Braitenberg vehicles

This article addresses the problem of localizing a static gas source in an indoor environment by a mobile robot. In contrast to previous works, the environment is not artificially ventilated to produce a strong unidirectional airflow. Here, the dominant transport mechanisms of gas molecules are turbulence and convection flow rather than diffusion, which results in a patchy, chaotically fluctuating gas distribution. Two Braitenberg-type strategies (positive and negative tropotaxis) based on the instantaneously measured spatial concentration gradient were investigated. Both strategies were shown to be of potential use for gas source localization. As a possible solution to the problem of gas source declaration (the task of determining with certainty that the gas source has been found), an indirect localization strategy based on exploration and concentration peak avoidance is suggested. Here, a gas source is located by exploiting the fact that local concentration maxima occur more frequently near the gas source compared to distant regions

Distances to the high galactic latitude molecular clouds G192-67 and MBM 23-24

We report on distance determinations for two high Galactic latitude cloud complexes, G192-67 and MBM 23-24. No distance determination exists in the literature for either cloud. Thirty-four early type stars were observed towards the two clouds, more than half of which have parallaxes measured by the Hipparcos satellite. For the remaining stars we have made spectroscopic distance estimates. The data consist of high resolution echelle spectra centered on the Na I D lines, and were obtained over six nights at the Coude Feed telescope at Kitt Peak National Observatory. Interstellar absorption lines were detected towards some of the stars, enabling estimates of the distances to the clouds of 109 +/- 14 pc for G192-67, and of 139 +/- 33 pc for MBM 23-24. We discuss the relationship of these clouds to other ISM features such as the Local Hot Bubble and the local cavity in neutral hydrogen.Comment: 15 pages, 6 embedded figures, to be published in the ApJ Vol. 516, No.

Fusion of aerial images and sensor data from a ground vehicle for improved semantic mapping

This work investigates the use of semantic information to link ground level occupancy maps and aerial images. A ground level semantic map, which shows open ground and indicates the probability of cells being occupied by walls of buildings, is obtained by a mobile robot equipped with an omnidirectional camera, GPS and a laser range finder. This semantic information is used for local and global segmentation of an aerial image. The result is a map where the semantic information has been extended beyond the range of the robot sensors and predicts where the mobile robot can find buildings and potentially driveable ground

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