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Improved data association and occlusion handling for vision-based people tracking by mobile robots

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3 Author(s)
Cielniak, G. ; Univ. of Lincoln, Lincoln ; Duckett, T. ; Lilienthal, A.J.

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.

Published in:

Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on

Date of Conference:

Oct. 29 2007-Nov. 2 2007