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Proceedings Paper

People tracking using omnidirectional vision and range information
Author(s): Joerg Illmann; Boris Kluge; Erwin A. Prassler
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Paper Abstract

In this paper we present two approaches for tracking of people in dynamic environments with a moving sensor system. The trajectories of persons are used to extract simple motion patterns. Object detection and tracking is based on range and color information which is provided by a laser range finder and a omnidirectional color camera. Without any predefined person-model the system acquires an internal representation of the person at an initialization phase. This representation is tracked in real-time in dynamic environments. During the tracking procedure illumination conditions are continuously monitored. The tracking approaches were implemented on a robotic wheelchair and evaluated experimentally in different dynamic environments.

Paper Details

Date Published: 4 October 2001
PDF: 11 pages
Proc. SPIE 4571, Sensor Fusion and Decentralized Control in Robotic Systems IV, (4 October 2001); doi: 10.1117/12.444153
Show Author Affiliations
Joerg Illmann, Research Institute for Applied Knowledge Processing (Germany)
Boris Kluge, Research Institute for Applied Knowledge Processing (Germany)
Erwin A. Prassler, Research Institute for Applied Knowlegge Processing (Germany)

Published in SPIE Proceedings Vol. 4571:
Sensor Fusion and Decentralized Control in Robotic Systems IV
Gerard T. McKee; Paul S. Schenker, Editor(s)

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