Multi-robot Multiple Hypothesis Tracking for pedestrian tracking with detection uncertainty

Nicolas A. Tsokas; Kostas J. Kyriakopoulos

doi:10.1109/MED.2011.5983124

Multi-robot Multiple Hypothesis Tracking for pedestrian tracking with detection uncertainty

Nicolas A. Tsokas, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

The problem of tracking walking people with a team of moving robots is tackled in this paper. We extend the Multiple Hypothesis Tracking method so as to handle measurements coming from multiple sensors and to allow for one-to-many associations between targets and measurements. Derivation of hypotheses probabilities accounts for the overlapping fields of view of the robots sensors and for uncertainty in detection. In the context of two experiments involving people walking among moving robots, the successful integration of our tracking algorithm to a real-world scenario is assessed.

Original language	English (US)
Title of host publication	2011 19th Mediterranean Conference on Control and Automation, MED 2011
Pages	315-320
Number of pages	6
DOIs	https://doi.org/10.1109/MED.2011.5983124
State	Published - 2011
Event	2011 19th Mediterranean Conference on Control and Automation, MED 2011 - Corfu, Greece Duration: Jun 20 2011 → Jun 23 2011

Publication series

Name	2011 19th Mediterranean Conference on Control and Automation, MED 2011

Other

Other	2011 19th Mediterranean Conference on Control and Automation, MED 2011
Country/Territory	Greece
City	Corfu
Period	6/20/11 → 6/23/11

Keywords

Multi-robot
multi-target tracking
multiple hypothesis tracking
people tracking

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/MED.2011.5983124

Cite this

Multi-robot Multiple Hypothesis Tracking for pedestrian tracking with detection uncertainty. / Tsokas, Nicolas A.; Kyriakopoulos, Kostas J.
2011 19th Mediterranean Conference on Control and Automation, MED 2011. 2011. p. 315-320 5983124 (2011 19th Mediterranean Conference on Control and Automation, MED 2011).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Tsokas, NA & Kyriakopoulos, KJ 2011, Multi-robot Multiple Hypothesis Tracking for pedestrian tracking with detection uncertainty. in 2011 19th Mediterranean Conference on Control and Automation, MED 2011., 5983124, 2011 19th Mediterranean Conference on Control and Automation, MED 2011, pp. 315-320, 2011 19th Mediterranean Conference on Control and Automation, MED 2011, Corfu, Greece, 6/20/11. https://doi.org/10.1109/MED.2011.5983124

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Multi-robot Multiple Hypothesis Tracking for pedestrian tracking with detection uncertainty

Abstract

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Other

Keywords

ASJC Scopus subject areas

Access to Document

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