کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
412147 679614 2006 11 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Real-time people tracking for mobile robots using thermal vision
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Real-time people tracking for mobile robots using thermal vision
چکیده انگلیسی

This paper presents a vision-based approach for tracking people on a mobile robot using thermal images. The approach combines a particle filter with two alternative measurement models that are suitable for real-time tracking. With this approach a person can be detected independently from current light conditions and in situations where no skin colour is visible. In addition, the paper presents a comprehensive, quantitative evaluation of the different methods on a mobile robot in an office environment, for both single and multiple persons. The results show that the measurement model that was learned from local grey-scale features could improve on the performance of the elliptic contour model, and that both models could be combined to further improve performance with minimal extra computational cost.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 54, Issue 9, 30 September 2006, Pages 729–739
نویسندگان
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