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

被引：26
作者：
Cielniak, Grzegorz [1 ]
Duckett, Tom [1 ]
Lilienthal, Achim J. [2 ]
机构：
[1] Lincoln Univ, Sch Comp Sci, Lincoln, Lincs LN6 7TS, England
[2] Univ Orebro, Ctr Appl Autonomous Sensor Syst, SE-70182 Orebro, Sweden
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2010年 / 58卷 / 05期
关键词：
AdaBoost; Occlusion detection; Thermal vision; Colour vision; Bayesian estimation;
D O I：
10.1016/j.robot.2010.02.004
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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. (C) 2010 Elsevier B.V. All rights reserved.
引用
收藏
页码：435 / 443
页数：9
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