TY - GEN
T1 - Person-tracking with occlusion using appearance filters
AU - Peng, Bai
AU - Hong, Qiao
AU - Anhua, Wan
AU - Yu, Liu
PY - 2006
Y1 - 2006
N2 - To deal with the problem of tracking person with a mobile robot in dynamic scene with occlusion, a tracking system is presented in this paper. We focus on the individual person tracking system, which is applied on our two-wheel mobile robot with a single PTZ(pan-tilt-zoom) camera. The tracking system works reliably in the dynamic environment with partial/complete occlusion. For the sake of complete occlusion, we use several filters and spatial relation restriction to represent the target model. These filters are all based on the appearance of the target, and each filter models a part of human body which is more rigid than the entire body. To construct a tracking system, the situation-based strategy and a simple frame-to-frame tracker are involved in the system, and an improved meanshift tracking algorithm is applied as the tracker in this paper. Finally, experimental results on tracking individual person with complete occlusion in different environments are shown, which demonstrate the robustness and effectiveness of the algorithm.
AB - To deal with the problem of tracking person with a mobile robot in dynamic scene with occlusion, a tracking system is presented in this paper. We focus on the individual person tracking system, which is applied on our two-wheel mobile robot with a single PTZ(pan-tilt-zoom) camera. The tracking system works reliably in the dynamic environment with partial/complete occlusion. For the sake of complete occlusion, we use several filters and spatial relation restriction to represent the target model. These filters are all based on the appearance of the target, and each filter models a part of human body which is more rigid than the entire body. To construct a tracking system, the situation-based strategy and a simple frame-to-frame tracker are involved in the system, and an improved meanshift tracking algorithm is applied as the tracker in this paper. Finally, experimental results on tracking individual person with complete occlusion in different environments are shown, which demonstrate the robustness and effectiveness of the algorithm.
KW - Appearance filters
KW - Occlusion handling strategy
KW - Person tracking with a mobile robot
UR - https://www.scopus.com/pages/publications/34250615854
U2 - 10.1109/IROS.2006.282222
DO - 10.1109/IROS.2006.282222
M3 - 会议稿件
AN - SCOPUS:34250615854
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1805
EP - 1810
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -