Real-time people tracking for mobile robots using thermal vision

This paper presents a vision-based approach for tracking people on a mobile robot using thermal images. The approach combines a particle filter with two alternative measurement models that are suitable for real-time tracking. With this approach a person can be detected independently from current light conditions and in situations where no skin colour is visible. In addition, the paper presents a comprehensive, quantitative evaluation of the different methods on a mobile robot in an office environment, for both single and multiple persons. The results show that the measurement model that was learned from local grey-scale features could improve on the performance of the elliptic contour model, and that both models could be combined to further improve performance with minimal extra computational cost.