MULTI-MODAL PERSON DETECTION AND TRACKING FROM A MOBILE ROBOT IN A CROWDED ENVIRONMENT

A. A. Mekonnen, F. Lerasle, I. Zuriarrain

2011

Abstract

This paper addresses multi-modal person detection and tracking using a 2D SICK Laser Range Finder and a visual camera from a mobile robot in a crowded and cluttered environment. A sequential approach in which the laser data is segmented to filter human leg like structures to generate person hypothesis which are further refined by a state of the art parts based visual person detector for final detection, is proposed. Based on this detection routine, a Monte Carlo Markov Chain (MCMC) particle filtering strategy is utilized to track multiple persons around the robot. Integration of the implemented multi-modal person detector and tracker in our robotic platform and associated experiments are presented. Results obtained from all tests carried out have been clearly reported proving the multi-modal approach outperforms its single sensor counterparts taking detection, subsequent use, computation time, and precision into account. The work presented here will be used to define navigational control laws for passer-by avoidance during a service robot’s person following activity.

Paper Citation

in Harvard Style

A. Mekonnen A., Lerasle F. and Zuriarrain I. (2011). MULTI-MODAL PERSON DETECTION AND TRACKING FROM A MOBILE ROBOT IN A CROWDED ENVIRONMENT . In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2011) ISBN 978-989-8425-47-8, pages 511-520. DOI: 10.5220/0003367705110520

in Bibtex Style

@conference{visapp11,
author={A. A. Mekonnen and F. Lerasle and I. Zuriarrain},
title={MULTI-MODAL PERSON DETECTION AND TRACKING FROM A MOBILE ROBOT IN A CROWDED ENVIRONMENT},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2011)},
year={2011},
pages={511-520},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003367705110520},
isbn={978-989-8425-47-8},
}

in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2011)
TI - MULTI-MODAL PERSON DETECTION AND TRACKING FROM A MOBILE ROBOT IN A CROWDED ENVIRONMENT
SN - 978-989-8425-47-8
AU - A. Mekonnen A.
AU - Lerasle F.
AU - Zuriarrain I.
PY - 2011
SP - 511
EP - 520
DO - 10.5220/0003367705110520