Multiple human tracking on robot operation system
- Multiple human tracking on robot operation system
- Le Anh Vu; 안기진; 최종석
- multiple human tracking; sensor fusion; feature matching; group tracking
- Issue Date
- URAI (International Conference on Ubiquitous Robots and Ambient Intelligence)
- , 208-211
- This paper proposes a novel method to track human by a robot operation system (ROS) based
perception sensor network (PSN) even in the group situation. Firstly, a method is proposed to fusion multiple humans detected by Kinect cameras of PSN. Then to track multiple human, grouping and ungrouping algorithms are proposed. When a group of multiple human staying close together is formed, invariant features such as 3d human location, height, color and SURF feature points of human region of interest (ROI), which are identical criterions retrieving from both depth and color images of group member, and then stored and updated into the group database. Based on the distance between a group location and each member location in the group, PSN system decides whether to keep this member in the group or to ungroup it from the group then
reassign the right name identification from the group database by minimizing multiple criterions. The experimental results demonstrate the outperforming of proposed method in challenge scenarios.
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- KIST Publication > Conference Paper
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