Place-dependent people tracking

Luber, Matthias; Tipaldi, Gian Diego; Arras, Kai O.

doi:10.1177/0278364910393538

Cited by 48 publications

(47 citation statements)

References 20 publications

(34 reference statements)

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“…However, more complicated methods also exist for occlusion reasoning which use prior information of the environment to potentially improve tracking and reduce the number of tracks deleted during temporary occlusions [46].…”

Section: Track Initiation and Deletionmentioning

confidence: 99%

“…However, quantitative comparisons specifically in the area of people tracking in 2D laser scans would be beneficial because it is a fundamentally different domain. For example, false positive detections are produced systematically by objects in the scan, rather than randomly over the scanning area, as is often assumed in radar tracking, and can therefore be accounted for explicitly (e.g., as in our tracker or in [46]). …”

Section: Data Associationmentioning

confidence: 99%

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Person tracking and following with 2D laser scanners

Leigh

Pineau

Olmedo

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

155

127

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ACKNOWLEDGEMENTSThis thesis would not have been possible without the help of a great many people who provided me with inspiration, direction and encouragement.Foremost, I would like to thank my supervisor, Joelle Pineau. You've been the ideal mixture of supportive, easy-going and motivating during my master's. You were at once hands-off, letting me pursue the research ideas I was most interested in, and engaged, constantly providing me with valuable feedback on whatever we were working on. You listened to my ideas from day one so I would grow and learn to think for myself rather than follow orders. You were patient when research went slow and were quick to offer praise when things went well. I could not have asked for more from a supervisor. In this thesis we propose a new algorithm for robust detection, tracking and following from laser scanners mounted at leg height. We develop a set of quantitative benchmarks based on the CLEAR MOT metrics which demonstrate that the approach is more effective than currently available alternatives in a variety of environments, both indoor and outdoor, and on different robot platforms (the intelligent power wheelchair and a Clearpath Husky). To the best of our knowledge, these are the first benchmarks which evaluate person tracking performance from a mobile robot with laser scanners at leg height. We further integrate our novel person tracking system with a person following control system to demonstrate its usefulness in this application. The method has been implemented in the Robot Operating System (ROS) framework and will be publicly released as a ROS package. Dans cette thèse nous proposons un nouvel algorithme pour la détection, la localisation et le suivià partir de capteurs lasers situésà hauteur de la jambe.Nous développons un ensemble de mesures de référence quantitatives basées sur les métriques CLEAR MOT, qui démontrent que notre approche est plus efficace que les alternatives actuelles, ce dans une variété d'environnements,à la fois intérieurs et extérieurs, et sur différentes plateformes de robots (le fauteuil roulantélectrique intelligent et un Clearpath Husky). Au mieux de notre connaissance, nous sommes les premiersàévaluer la performance du suivi de personnes depuis un robot mobilé equipé de capteurs lasersà hauteur de la jambe. De plus, pour en démontrer l'utilité, nous intégrons notre nouveau système de localisation de personnes avec un système de contrôle automatique permettant au robot de se déplacer en suivant une personne.

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Section: Track Initiation and Deletionmentioning

confidence: 99%

Section: Data Associationmentioning

confidence: 99%

Person tracking and following with 2D laser scanners

Leigh

Pineau

Olmedo

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

155

127

View full text Add to dashboard Cite

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“…Compared with object tracking approaches, such as [19], we take a different point of view, which is whether a location is occupied by an object. Then we connect these occupancy events and collectively infer about motion pattens in the whole environment.…”

Section: Discussionmentioning

confidence: 99%

Modeling motion patterns of dynamic objects by IOHMM

Wang

Ambruş

Folkesson

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper presents a novel approach to model motion patterns of dynamic objects, such as people and vehicles, in the environment with the occupancy grid map representation. Corresponding to the ever-changing nature of the motion pattern of dynamic objects, we model each occupancy grid cell by an IOHMM, which is an inhomogeneous variant of the HMM. This distinguishes our work from existing methods which use the conventional HMM, assuming motion evolving according to a stationary process. By introducing observations of neighbor cells in the previous time step as input of IOHMM, the transition probabilities in our model are dependent on the occurrence of events in the cell's neighborhood. This enables our method to model the spatial correlation of dynamics across cells. A sequence processing example is used to illustrate the advantage of our model over conventional HMM based methods. Results from the experiments in an office corridor environment demonstrate that our method is capable of capturing dynamics of such human living environments.

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“…The IMAC [5] is an occupancy grid map based on the proposed model of Luber [4] . Each grid has two states, which being in occupied or free.…”

Section: Independent Markov Chain Occupancy Grid Map (Imac)mentioning

confidence: 99%

Anomaly Stop Detection by Smartphone

Dang¹,

Kubo²,

Satō³

et al. 2014

JRNAL

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This paper proposes a method for detecting anomaly stop events from GPS logs of a vehicle recorded by smartphone. Despite of many researches of strong braking event detection are proposed, they cannot discriminate between a normal and an abnormal braking event. Our proposal includes an IMAC model for GPS based map generation and an algorithm for anomaly stops detection based on the acquired map. The real world experiment shows our map generation method and its anomaly stop detection rule works well.

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Place-dependent people tracking

Cited by 48 publications

References 20 publications

Person tracking and following with 2D laser scanners

Person tracking and following with 2D laser scanners

Modeling motion patterns of dynamic objects by IOHMM

Anomaly Stop Detection by Smartphone

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