TY - GEN
T1 - A multiple hypothesis people tracker for teams of mobile robots
AU - Tsokas, Nicolas A.
AU - Kyriakopoulos, Kostas J.
PY - 2010
Y1 - 2010
N2 - This paper tackles the problem of tracking walking people with multiple moving robots equipped with laser rangefinders. We present an adaptation to the classic Multiple Hypothesis Tracking method, which allows for one-to-many associations between targets and measurements in each cycle and is thus capable of operating in a multi-sensor scenario. In the context of two experiments, the successful integration of our tracking algorithm to a dual-robot setup is assessed.
AB - This paper tackles the problem of tracking walking people with multiple moving robots equipped with laser rangefinders. We present an adaptation to the classic Multiple Hypothesis Tracking method, which allows for one-to-many associations between targets and measurements in each cycle and is thus capable of operating in a multi-sensor scenario. In the context of two experiments, the successful integration of our tracking algorithm to a dual-robot setup is assessed.
UR - http://www.scopus.com/inward/record.url?scp=77955784595&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77955784595&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509967
DO - 10.1109/ROBOT.2010.5509967
M3 - Conference contribution
AN - SCOPUS:77955784595
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 446
EP - 451
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -