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Data association and occlusion handling for vision-based people tracking by mobile robots
Sch Comp Sci, Lincoln Univ, Lincoln, England.
Sch Comp Sci, Lincoln Univ, Lincoln, England.
Örebro universitet, Akademin för naturvetenskap och teknik.ORCID-id: 0000-0003-0217-9326
2010 (engelsk)Inngår i: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 58, nr 5, s. 435-443Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

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.

sted, utgiver, år, opplag, sider
2010. Vol. 58, nr 5, s. 435-443
Emneord [en]
AdaBoost, Occlusion detection, Thermal vision, Colour vision, Bayesian estimation
HSV kategori
Forskningsprogram
Datalogi
Identifikatorer
URN: urn:nbn:se:oru:diva-12947DOI: 10.1016/j.robot.2010.02.004ISI: 000277926200002Scopus ID: 2-s2.0-77950188463OAI: oai:DiVA.org:oru-12947DiVA, id: diva2:383180
Tilgjengelig fra: 2011-01-04 Laget: 2011-01-03 Sist oppdatert: 2023-12-08bibliografisk kontrollert

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