TY - GEN
T1 - A multiple walking person tracker for laser-equipped mobile robots
AU - Tsokas, Nicolas A.
AU - Kyriakopoulos, Kostas J.
PY - 2008
Y1 - 2008
N2 - The presented algorithm keeps track of people walking within the field of view of a laser rangefinder while constructing a short-term model of the static environment. Background detection does not require a learning phase and is based on the extraction of simple geometric shapes and on the notion of their vitality introduced in this study. Object tracking is based on Multiple Hypothesis Tracking and Kalman Filtering, whereas separate Kalman Filters follow people's trajectories. The proposed method is experimentally evaluated.
AB - The presented algorithm keeps track of people walking within the field of view of a laser rangefinder while constructing a short-term model of the static environment. Background detection does not require a learning phase and is based on the extraction of simple geometric shapes and on the notion of their vitality introduced in this study. Object tracking is based on Multiple Hypothesis Tracking and Kalman Filtering, whereas separate Kalman Filters follow people's trajectories. The proposed method is experimentally evaluated.
KW - Background subtraction
KW - Multiple hypothesis tracking
KW - People tracking
UR - http://www.scopus.com/inward/record.url?scp=84871760319&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84871760319&partnerID=8YFLogxK
U2 - 10.3233/978-1-58603-887-8-36
DO - 10.3233/978-1-58603-887-8-36
M3 - Conference contribution
AN - SCOPUS:84871760319
SN - 9781586038878
T3 - Intelligent Autonomous Systems 10, IAS 2008
SP - 36
EP - 40
BT - Intelligent Autonomous Systems 10, IAS 2008
T2 - 10th International Conference on Intelligent Autonomous Systems, IAS 2008
Y2 - 23 July 2008 through 25 July 2008
ER -