Improved data association and occlusion handling for vision-based people tracking by mobile robots
Grzegorz Cielniak,Tom Duckett,Achim J. Lilienthal +2 more
- Vol. 58, Iss: 5, pp 435-443
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TLDR
In this paper, an approach for tracking multiple persons using a combination of colour and thermal vision sensors on a mobile robot is presented. But this approach is not suitable for indoor environments.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.read more
Citations
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Journal ArticleDOI
Optical flow or image subtraction in human detection from infrared camera on mobile robot
Antonio Fernández-Caballero,José Carlos Castillo,Javier Martínez-Cantos,Rafael Martínez-Tomás +3 more
TL;DR: A new approach to real-time human detection through processing video captured by a thermal infrared camera mounted on the autonomous mobile platform mSecurit^T^M is introduced and optical flow or image difference will emphasize the foreground hot spot areas obtained at the initial human candidates' detection.
Journal ArticleDOI
Vision and RFID data fusion for tracking people in crowds by a mobile robot
TL;DR: An active perception system, consisting of a camera mounted on a pan-tilt unit and a 360^o RFID detection system, both embedded on a mobile robot, and a multi-sensor-based control strategy based on the tracker outputs and on the RFID data is designed.
Journal ArticleDOI
Where am I in the dark
TL;DR: This paper introduces an image-based localization system based on thermal imaging and applies active transfer learning to enrich the thermal image classification learning, where normal RGB images are treated as the source domain, and thermal images are the target domain.
Journal ArticleDOI
ENRICHME: Perception and Interaction of an Assistive Robot for the Elderly at Home
Serhan Cosar,Manuel Fernandez-Carmona,Roxana Agrigoroaie,J. Pages,François Ferland,Feng Zhao,Shigang Yue,Nicola Bellotto,Adriana Tapus +8 more
TL;DR: The ENRICHME robot was tested in three pilot sites around Europe and proven to be an effective assistant for the elderly at home and presents several modules created to provide cognitive stimulation services for elderly users with mild cognitive impairments.
Journal ArticleDOI
Multisensor Information Fusion for People Tracking With a Mobile Robot: A Particle Filtering Approach
TL;DR: An LRF-based detection algorithm is proposed to identify the pairs of human legs, by combining motion information and metric features and a near-optimal particle filter is designed to fuse the measurements from the LRF and the camera.
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