TY - GEN
T1 - Improved data association and occlusion handling for vision-based people tracking by mobile robots
AU - Cielniak, Grzegorz
AU - Duckett, Tom
AU - Lilienthal, Achim J.
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=51349163493&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399507
DO - 10.1109/IROS.2007.4399507
M3 - Conference contribution
AN - SCOPUS:51349163493
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3436
EP - 3441
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -