Grzegorz Cielniak, Tom Duckett and Achim J. Lilienthal
Data Association and Occlusion Handling for Vision-Based People Tracking by Mobile Robots
Robotics and Autonomous Systems, Volume 58, Issue 5, 31 May 2010, pp. 435-443.
Abstract: 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.
Keywords: AdaBoost, Occlusion detection, Thermal vision, Colour vision, Bayesian estimation.
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@ARTICLE{Cielniak_etal:RAS:2010,
  AUTHOR = {Cielniak, Grzegorz and Duckett, Tom and Lilienthal, Achim J.},
  TITLE = {Data Association and Occlusion Handling for Vision-Based People Tracking by Mobile Robots},
  JOURNAL = {Robotics and Autonomous Systems},
  YEAR = {2010},
  VOLUME = {58},
  NUMBER = {5},
  PAGES = {435--443},
  MONTH = {May 31}
}