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Proceedings Paper

Person tracking with a mobile robot using particle filters in complex environment
Author(s): Ho Sang Kwon; Young Joong Kim; Myo Taeg Lim
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Paper Abstract

Based on a particle filter, a method that mobile robots can track a person in complex environment was presented. The problem of person following for mobile robot has been researched many different areas. The main issues of following a person are real time constraint, motion change of person during the tracking and occlusion with other objects. Using appearance-adaptive models in a particle filter, a robust visual tracking algorithm was realized. The appearance-adaptive model can handle occlusion with other people while the target is moving.

Paper Details

Date Published: 2 May 2006
PDF: 6 pages
Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60423S (2 May 2006); doi: 10.1117/12.664776
Show Author Affiliations
Ho Sang Kwon, Korea Univ. (South Korea)
Young Joong Kim, Korea Univ. (South Korea)
Myo Taeg Lim, Korea Univ. (South Korea)

Published in SPIE Proceedings Vol. 6042:
ICMIT 2005: Control Systems and Robotics
Yunlong Wei; Kil To Chong; Takayuki Takahashi; Shengping Liu; Zushu Li; Zhongwei Jiang; Jin Young Choi, Editor(s)

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