Data association and occlusion handling for vision-based people tracking by mobile robots |
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Authors: | Grzegorz Cielniak Tom Duckett Achim J Lilienthal |
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Affiliation: | 1. EECS Building, 1301 Beal Avenue Ann Arbor, MI 48109-2122, United States;2. East Hall, 530 Church St. Ann Arbor, MI 48109-1043, United States |
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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. |
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