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Improved data association and occlusion handling for vision-based people tracking by mobile robots
Department of Computing and Informatics, University of Lincoln, Lincoln, United Kingdom.
Department of Computing and Informatics, University of Lincoln, Lincoln, United Kingdom.
Örebro University, Department of Technology. (AASS)ORCID iD: 0000-0003-0217-9326
2007 (English)In: 2007 IEEE/RSJ international conference on intelligent robots and systems, New York, NY, USA: IEEE, 2007, p. 3436-3441Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
New York, NY, USA: IEEE, 2007. p. 3436-3441
Keywords [en]
Person tracking, robot vision, occlusion handling
National Category
Engineering and Technology Computer and Information Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3271DOI: 10.1109/IROS.2007.4399507ISI: 000254073202089Scopus ID: 2-s2.0-51349163493ISBN: 978-1-4244-0912-9 (print)OAI: oai:DiVA.org:oru-3271DiVA, id: diva2:137568
Conference
IEEE/RSJ international conference on intelligent robots and systems, 2007, IROS 2007, San Diego, CA, USA, 29 Oct.-2 Nov., 2007
Available from: 2008-11-28 Created: 2008-11-28 Last updated: 2018-06-12Bibliographically approved

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Improved Data Association and Occlusion Handling for Vision-Based People Tracking by Mobile Robots(749 kB)7 downloads
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Cielniak, GrzegorzDuckett, TomLilienthal, Achim J.

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Citation style
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Language
  • de-DE
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Output format
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