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dc.contributor.authorCorominas Murtra, Andreu
dc.contributor.authorPagès, Jordi
dc.contributor.authorPfeiffer, Sammy
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2016-03-07T18:09:54Z
dc.date.available2016-03-07T18:09:54Z
dc.date.issued2015
dc.identifier.citationCorominas, A., Pagès, J., Pfeiffer, S. Multi-target & multi-detector people tracker for mobile robots. A: European Conference on Mobile Robots. "Mobile Robots (ECMR), 2015 European Conference on". Lincoln: Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 1-6.
dc.identifier.urihttp://hdl.handle.net/2117/83919
dc.description.abstractPeople tracking is a key perception skill for mobile robots designed to share environments with human beings. It allows the robot to keep track of people around them, which is fundamental for two main reasons: safety and social interaction. This paper presents the work done on people tracking with the REEM robot after two years of paticipation at the RoboCup@home challenge. The main contribution of the paper is the tracker part, which is designed to be multi-target and to fuse heterogeneous detections from a variety of sensors, each one yielding different rates, field of views and quality performance. The paper carefully describes the tracker approach, based on multi-target particle filtering, as well as data association step, based on a probabilistic multi-hypothesis tree. Quantitative evaluations of real datasets using CLEAR MOT metrics are provided, comparing different sensor/detector set-ups and different data association approaches.
dc.format.extent6 p.
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherMobile robots
dc.subject.otherrobot vision
dc.subject.otherservice robots
dc.subject.othersensor fusion
dc.subject.othertracking
dc.subject.othermobile robots
dc.titleMulti-target & multi-detector people tracker for mobile robots
dc.typeConference report
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents
dc.identifier.doi10.1109/ECMR.2015.7324223
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots::Mobile robots
dc.relation.publisherversionhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7324223
dc.rights.accessOpen Access
local.identifier.drac17556244
dc.description.versionPostprint (author's final draft)
local.citation.authorCorominas, A.; Pagès, J.; Pfeiffer, S.
local.citation.contributorEuropean Conference on Mobile Robots
local.citation.pubplaceLincoln
local.citation.publicationNameMobile Robots (ECMR), 2015 European Conference on
local.citation.startingPage1
local.citation.endingPage6


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