NDLI: People tracking with human motion predictions from social forces

Content Provider	IEEE Xplore Digital Library
Author	Luber, M. Stork, J.A. Tipaldi, G.D. Arras, K.O.
Copyright Year	2010
Description	Author affiliation: Social Robotics Lab, Department of Computer Science, University of Freiburg, Germany (Luber, M.; Stork, J.A.; Tipaldi, G.D.; Arras, K.O.)
Abstract	For many tasks in populated environments, robots need to keep track of current and future motion states of people. Most approaches to people tracking make weak assumptions on human motion such as constant velocity or acceleration. But even over a short period, human behavior is more complex and influenced by factors such as the intended goal, other people, objects in the environment, and social rules. This motivates the use of more sophisticated motion models for people tracking especially since humans frequently undergo lengthy occlusion events. In this paper, we consider computational models developed in the cognitive and social science communities that describe individual and collective pedestrian dynamics for tasks such as crowd behavior analysis. In particular, we integrate a model based on a social force concept into a multi-hypothesis target tracker. We show how the refined motion predictions translate into more informed probability distributions over hypotheses and finally into a more robust tracking behavior and better occlusion handling. In experiments in indoor and outdoor environments with data from a laser range finder, the social force model leads to more accurate tracking with up to two times fewer data association errors.
Starting Page	464
Ending Page	469
File Size	1413975
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509779
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humans Target tracking Fluid dynamics Robotics and automation Mobile robots Hidden Markov models Floors USA Councils Acceleration Computational modeling
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Robotic routers

Missing motion data recovery using factorial hidden Markov models

Sampling-based motion planning with temporal goals

Dynamics modeling of structure-varying kinematic chains for free-flying robots

Maximum likelihood estimation of sensor and action model functions on a mobile robot

Efficient path planning for mobile robots in environments with deformable objects

A biorobotic flapping fin for propulsion and maneuvering

Dynamically diverse legged locomotion for rough terrain

Continuous distance computation for motions with constant accelerations

People tracking with human motion predictions from social forces

Similar Documents

Robotic routers

Missing motion data recovery using factorial hidden Markov models

Sampling-based motion planning with temporal goals

Dynamics modeling of structure-varying kinematic chains for free-flying robots

Maximum likelihood estimation of sensor and action model functions on a mobile robot

Efficient path planning for mobile robots in environments with deformable objects

A biorobotic flapping fin for propulsion and maneuvering

Dynamically diverse legged locomotion for rough terrain

Continuous distance computation for motions with constant accelerations

People tracking with human motion predictions from social forces