Grzegorz Cielniak, Tom Duckett and Achim J. Lilienthal
Improved Data Association and Occlusion Handling for Vision-Based People Tracking by Mobile Robots
Abstract:
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.
Bibtex:
@INPROCEEDINGS{Cielniak_etal:IROS:2007,
AUTHOR = {Cielniak, Grzegorz and Duckett, Tom and Lilienthal, Achim J.},
TITLE = {Improved Data Association and Occlusion Handling for Vision-Based People Tracking by Mobile Robots},
BOOKTITLE = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
YEAR = {2007},
MONTH = {October 29 -- November 2},
ADRESS = {San Diego, USA},
PAGES = {3436--3441}
}