Multiple Human Tracking in Dynamic Environment
نویسنده
چکیده
A mobile robot needs to perceive the objects around it and track their moving in real time. Also it need to identify the property of the object, for example, it’s human or not. Many researches have been done by using Laser-Based system or visionbased system. The key challenge is that though laser-scanner can get a good estimated position of object in the laser range, it may miss some objects that are blocked by other objects sometimes and is very difficult to identify it’s human or not. For VisionBased system, it is difficult to estimate the position of objects in the real world. In our paper, we use both laser-based system and vision-based system to track the objects in the laser range and identify its human or not when the objects are in the camera range. So we have a global information about the objects in the laser range and its human or not. A Simple Bayes Filter is used in the Laser-Based System, Particle Filter and Adaboost object detection algorithm are used in the Vision-Based System.
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