NDLI: Detecting and tracking people using an RGB-D camera via multiple detector fusion

Content Provider	IEEE Xplore Digital Library
Author	Wongun Choi Pantofaru, C. Savarese, S.
Copyright Year	2011
Description	Author affiliation: Electrical and Computer Engineering, University of Michigan, Ann Arbor, USA (Wongun Choi; Savarese, S.) \|\| Willow Garage, Menlo Park, CA, USA (Pantofaru, C.)
Abstract	The goal of personal robotics is to create machines that help us with the tasks of daily living, co-habiting with us in our homes and offices. These robots must interact with people on a daily basis, navigating with and around people, and approaching people to serve them. To enable this coexistence, personal robots must be able to detect and track people in their environment. Excellent progress has been made in the vision community in detecting people outdoors, in surveillance scenarios, in Internet images, or in specific scenarios such as video game play in living rooms. The indoor robot perception problem differs, however, in that the platform is moving, the subjects are frequently occluded or truncated by the field-of-view, there is large scale variation, the subjects take on a wider range of poses than pedestrians, and computation must take place in near real time. In this paper, we describe a system for detecting and tracking people from image and depth sensors on board a mobile robot. To cope with the challenges of indoor mobile perception, our system combines an ensemble of detectors in a unified framework, is efficient, and has the potential to incorporate multiple sensor inputs. The performance of our algorithm surpasses other approaches on two challenging data sets, including a new robot-based data set.
Starting Page	1076
Ending Page	1083
File Size	10459985
Page Count	8
File Format	PDF
ISBN	9781467300629
e-ISBN	9781467300636
DOI	10.1109/ICCVW.2011.6130370
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-11-06
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Target tracking Shape Detectors Three dimensional displays Proposals Face Robots
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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