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This paper presents a new algorithm for human motion three-dimensional tracking based on a stereo camera system embedded on a mobile robot. The approach mixes advantages of the well-known ICONDENSATION and annealed particle filters into a more reliable "I-Annealed" particle filter based tracker. Data fusion is also studied to show that a wide variety of visual cues must be used so that the system can adapt to various backgrounds. A complete implementation of the proposed tracker is described as well as some results on indoor sequences. Finally, evolutions and future work are discussed.