제어로봇시스템학회:학술대회논문집
- 2002.10a
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- Pages.100.3-100
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- 2002
Real time tracking of multiple humans for mobile robot application
- Park, Joon-Hyuk (Seoul Nat'1 Univ.) ;
- Park, Byung-Soo (Seoul Nat'1 Univ.) ;
- Lee, Seok (Seoul Nat'1 Univ.) ;
- Park, Sung-Kee (KIST) ;
- Kim, Munsang (KIST)
- Published : 2002.10.01
Abstract
This paper presents the method for detection and tracking of multiple humans robustly in mobile platform. The perception of human is performed in real time through the processing of images acquired from a moving stereo vision system. We performed multi-cue integration such as human shape, skin color and depth information to detect and track each human in moving background scene. Human shape is measured by edge-based template matching on distance transformed image. Improving robustness for human detection, we apply the human face skin color in HSV color space. And we could increase the accuracy and the robustness in both detection and tracking by applying random sampling stochastic estimati...
Keywords