Based on a particle filter, a method that mobile robots can track a person in complex environment was presented. The problem of person following for mobile robot has been researched many different areas. The main issues of following a person are real time constraint, motion change of person during the tracking and occlusion with other objects. Using appearance-adaptive models in a particle filter, a robust visual tracking algorithm was realized. The appearance-adaptive model can handle occlusion with other people while the target is moving.
Person tracking with a mobile robot using particle filters in complex environment
ICMIT 2005: Control Systems and Robotics ; 2005 ; Chongqing,China
Proc. SPIE ; 6042 ; 60423S
22.12.2005
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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