Grzegorz Cielniak, Tom Duckett and Achim J. Lilienthal
Data Association and Occlusion Handling for Vision-Based People Tracking by Mobile Robots
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.
@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}
}