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Data fusion within a modified annealed particle filter dedicated to human motion capture

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3 Author(s)
Mathias Fontmarty ; Université de Toulouse:LAAS-CNRS, 7 avenue du Colonel Roche, 31077 Toulouse Cédex 4, FRANCE and Université Paul Sabatier, 118 route de Narbonne, 31062 Toulouse Cédex, FRANCE ; Frederic Lerasle ; Patrick Danes

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.

Published in:

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

Oct. 29 2007-Nov. 2 2007