Person Tracking with a Mobile Robot using Particle Filters in Complex Environment

복잡한 환경에서 파티클 필터를 이용한 자율이동로봇의 사람추적방법

This Paper presents a method that a mobile robot can track persons in complex environment using particle filters. The topic of person following using mobile robot is researched in many different areas. The main problems of following a person are real time constraint, motion change of person during the tracking and occlusion with other objects. We present appearance adaptive models in a particle filter to realize robust visual tracking algorithm. Adaptive appearance model can handle occlusion with other people while target is moving.