Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2005.07d
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- Pages.2796-2798
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- 2005
Person Tracking with a Mobile Robot using Particle Filters in Complex Environment
복잡한 환경에서 파티클 필터를 이용한 자율이동로봇의 사람추적방법
- Kwon, Ho-Sang (Department of Electrical Engineering, Korea University) ;
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Kim, Young-Joong
(Department of Electrical Engineering, Korea University) ;
- Lim, Myo-Taeg (Department of Electrical Engineering, Korea University)
- Published : 2005.07.18
Abstract
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.
Keywords