NDLI: Using color histograms and range data to track trajectories of moving people from a mobile robot platform

Content Provider	IEEE Xplore Digital Library
Author	Rivera-Bautista, J.A. Marin-Hernandez, A. Marin-Urias, L.F.
Copyright Year	2012
Description	Author affiliation: Department of Artificial Intelligence of the Universidad Veracruzana, Sebastían Camacho No. 5, Centro, Xalapa, Veracruz, CP 91000, Mexico (Rivera-Bautista, J.A.; Marin-Hernandez, A.; Marin-Urias, L.F.)
Abstract	People detection and tracking is still an active research field for autonomous mobile robots. Approaches that tackle the problem on mobile robots differ from those proposed for surveillance and other similar tasks. Mainly due to the motion of sensors and hence the complexity of scene interpretation, approaches proposed for fixed cameras are not appropriate. In this paper it is presented a methodology for people detection and tracking from an autonomous mobile robot. People detection and tracking initialization is made by image processing techniques, while for tracking data provided a range data camera (Kinect like sensor) and color information from the former sensor are used to track people over 3D space. Accuracy of tracker is achieved by an adaptive color histograms method based on color from RGB camera and projected over the plain view.
Starting Page	288
Ending Page	293
File Size	2412416
Page Count	6
File Format	PDF
ISBN	9781457713262
e-ISBN	9781457713255
DOI	10.1109/CONIELECOMP.2012.6189926
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-02-27
Publisher Place	Mexico
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Image color analysis Three dimensional displays Sensors Cameras Face Skin Mobile robots
Content Type	Text
Resource Type	Article

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