NDLI: Computationally intelligent system for thermal vision people detection and tracking in robotic applications

Content Provider	IEEE Xplore Digital Library
Author	Ciric, I. Cojbasic, Z. Nikolic, V. Antic, D.
Copyright Year	2013
Description	Author affiliation: Fac. of Mech. Eng., Univ. of Nis, Niš, Serbia (Ciric, I.; Cojbasic, Z.; Nikolic, V.; Antic, D.)
Abstract	This paper describes a system for real-time robust segmentation of human in a thermal image used for supervisory control of mobile robot platform. The main goal was to enable mobile robot platform to recognize the person in indoor environment, and to localize it with accuracy high enough to allow adequate human-robot interaction. The developed computationally intelligent control algorithm enables robust and reliable human tracking by mobile robot platform. The core of the recognition methods proposed is intelligent segmentation and classification of detected regions of interests in every frame acquired by thermal vision camera. Advanced intelligent segmentation algorithm is based on improved fuzzy closed-loop colour region segmentation. This segmentation algorithm enables autonomous functioning of robot system in cluttered environments. The classifier determines whether the segmented object is human or not based on features extracted from the processed thermal image. With this approach a person can be detected independently from current light conditions and in situations where no skin colour is visible. However, variation in temperature across same objects, air flow with different temperature gradients, person overlap while crossing each other and reflections, put challenges in thermal imaging and will have to be handled intelligently in order to obtain the efficient performance from motion tracking system. Presented research in this field includes making tracking system more robust and reliable by using the computational intelligence.
Sponsorship	IEEE Antennas Propag. Soc.
Starting Page	587
Ending Page	590
File Size	1220380
Page Count	4
File Format	PDF
ISBN	9781479908998
e-ISBN	9781479909025
DOI	10.1109/TELSKS.2013.6704447
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-10-16
Publisher Place	Serbia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Image segmentation Object segmentation Mobile robots Cameras Robot vision systems Image color analysis Computational intelligence Robot vision Thermal vision Human tracking
Content Type	Text
Resource Type	Article

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