期刊
ROBOTICS AND AUTONOMOUS SYSTEMS
卷 58, 期 5, 页码 435-443出版社
ELSEVIER
DOI: 10.1016/j.robot.2010.02.004
关键词
AdaBoost; Occlusion detection; Thermal vision; Colour vision; Bayesian estimation
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. (C) 2010 Elsevier B.V. All rights reserved.
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