People tracking using omnidirectional vision and range information

Joerg Illmann; Boris Kluge; Erwin A. Prassler

doi:10.1117/12.444153

4 October 2001 People tracking using omnidirectional vision and range information

Joerg Illmann, Boris Kluge, Erwin A. Prassler

Proceedings Volume 4571, Sensor Fusion and Decentralized Control in Robotic Systems IV; (2001) https://doi.org/10.1117/12.444153
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

In this paper we present two approaches for tracking of people in dynamic environments with a moving sensor system. The trajectories of persons are used to extract simple motion patterns. Object detection and tracking is based on range and color information which is provided by a laser range finder and a omnidirectional color camera. Without any predefined person-model the system acquires an internal representation of the person at an initialization phase. This representation is tracked in real-time in dynamic environments. During the tracking procedure illumination conditions are continuously monitored. The tracking approaches were implemented on a robotic wheelchair and evaluated experimentally in different dynamic environments.

Citation Download Citation

Joerg Illmann, Boris Kluge, and Erwin A. Prassler "People tracking using omnidirectional vision and range information", Proc. SPIE 4571, Sensor Fusion and Decentralized Control in Robotic Systems IV, (4 October 2001); https://doi.org/10.1117/12.444153

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