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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)
Grzegorz Cielniak ; Department of Computing and Informatics, University of Lincoln, LN6 7TS Lincoln, United Kingdom ; Tom Duckett ; Achim J. Lilienthal

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:

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

Oct. 29 2007-Nov. 2 2007