Multiple human tracking on robot operation system

Title
Multiple human tracking on robot operation system
Authors
Le Anh Vu안기진최종석
Keywords
multiple human tracking; sensor fusion; feature matching; group tracking
Issue Date
2015-10
Publisher
URAI (International Conference on Ubiquitous Robots and Ambient Intelligence)
Citation
, 208-211
Abstract
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.
URI
http://pubs.kist.re.kr/handle/201004/50755
Appears in Collections:
KIST Publication > Conference Paper
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