Person-Tracking with Occlusion Using Appearance Filters

Bai, Peng; Qiao, Hong; Wan, Anhua; Liu, Yu

doi:10.1109/iros.2006.282222

Cited by 8 publications

(8 citation statements)

References 10 publications

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“…Once the evaluation has detected an occlusion, modeling the contour changes alleviates the effect of shape variation from frame to frame. In [15], target-tracking and occlusion-handling methods were shown and applied to a mobile robot. The colors of a target's parts are used as features.…”

Section: Related Workmentioning

confidence: 99%

Occlusion handling for a target-tracking robot with a stereo camera

2018

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This paper presents an occlusion-handling method for a target-tracking robot with a stereo camera. One of the main challenges with the robot is to continue tracking when the illumination changes and occlusion occurs. In order to cope with the challenge, we use both color and disparity images acquired from a stereo camera. The tracking system is composed of three phases: candidate extraction, target identification, and occlusion handling. First, by using only three-dimensional (3D) information, target candidates are extracted. Second, the target is identified from the candidates based on a combination of both color and location features of the target and candidates. The combination depends on illumination changes that are supposed by changes in the white balance. Finally, the state of occlusion is estimated by results of both the analysis of the positional relationship between the candidates and the identification of a target. The proper procedure for the state is implemented. In the off-line experiments, the proposed method is compared with previous methods. Then, the proposed method is applied to a mobile robot, and an on-line experiment is carried out. Through the experiments, the effectiveness of the proposed method is verified.

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Section: Related Workmentioning

confidence: 99%

Occlusion handling for a target-tracking robot with a stereo camera

2018

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“…(9) A type-2 fuzzy control was applied to a mobile robot for avoiding moving objects. (10) In the development of intelligent WMRs, (11,12) in unknown environments, the authors applied ultrasonic sensors to search for the correct reflective position. In an actual environment, establishing a route-map through the data collected by ultrasound sensors can help an automobile be practical and effective.…”

Section: Introductionmentioning

confidence: 99%

Exploring an Unknown Environment Using Ultrasonic and Infrared Sensors

2016

Sensors and Materials

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A map-building scheme that uses a fuzzy system and sensors to control a wheeled mobile robot for building a map of an unknown environment is described in this paper. This study applies an infrared localization system and ultrasonic sensors to locate current positions and mark surrounding obstacles. With the information provided by the localization system and the distance detected between the sensor and an object, a map of the surroundings can be established using a curve fitting method during environmental exploration. A map of an unknown environment can be built without using visual sensors. Different map building approaches are applied and a comparison is given.

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“…Fuzzy logic has the benefit of better promotion, greater fault tolerance and more fitting usage on nonlinear systems. In the development of the intelligent versatile automobile [6]- [8], the automobile used ultrasound sensors to help it search the correct reflective position. In actual environment, establish a route-map through the data that collected by the ultrasound sensor can help the automobile be practically and effectively.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy Sensor Fusion and Curve Approximation for indoor Map Building

Juang¹,

Yang²

2015

Advances in Intelligent Systems Research

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This study uses a wheeled mobile robot to explore unknown indoor environment and build up a map of the unknown environment. The robot utilizes ultrasonic and infrared sensors with indoor positioning system to detect obstacles and identify unknown environment. Fuzzy system and sensor fusionare applied to control design. The proposed scheme can control the wheeled mobile robot move along walls and avoid obstacles. Angle and distance of the wheeled mobile robot are used to obtain the path trajectory. With sensed data of obstructions and walls, a map of unknown environment can be generated by curve fitting methods. The map building scheme is tested in different terrains and the experiments confirm that the proposed scheme works properly.

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Person-Tracking with Occlusion Using Appearance Filters

Cited by 8 publications

References 10 publications

Occlusion handling for a target-tracking robot with a stereo camera

Occlusion handling for a target-tracking robot with a stereo camera

Exploring an Unknown Environment Using Ultrasonic and Infrared Sensors

Fuzzy Sensor Fusion and Curve Approximation for indoor Map Building

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