Panoramic vision and laser range finder fusion for multiple person tracking

被引：24
|
作者：
Chakravarty, Punarjay [1 ]
Jarvis, Ray [1 ]
机构：
[1] Monash Univ, Elect & Comp Syst Engn, Melbourne, Vic 3004, Australia
来源：
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年
关键词：
multiple person tracking; panoramic vision; laser range finder;
D O I：
10.1109/IROS.2006.282149
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes a fusion of panoramic vision and laser range data to track multiple persons simultaneously from a stationary robot. Particle filters are used to track people in the plane of the laser and a mixture of Gaussians background subtraction algorithm is used to maintain a colour model for each person being tracked. Colour information is used to recognize lost targets that have reentered the scene.
引用
收藏
页码：2949 / +
页数：2
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