Target tracking using SIR and MCMC particle filters by multiple cameras and laser range finders

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2008, Pages 3838-3844

  Kurazume, Ryo ^a   Yamada, Hiroyuki ^a   Murakami, Kouji ^a   Iwashita, Yumi ^a   Hasegawa, Tsutomu ^a  

^a KYUSHU UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

DEGENERACY PROBLEMS; HIGH RESOLUTION; LASER RANGE FINDERS; LEVEL SET METHOD; MOVING TARGETS; MULTIPLE CAMERAS; MULTIPLE OBJECTS; MULTIPLE TARGETS; OBJECT TRACKING; PARTICLE FILTER; PROCESSING SPEED; RANGE DATA; REAL TIME; SENSOR NETWORK SYSTEMS; SENSORY INFORMATION; TRACKING PERFORMANCE;

AIR FILTERS; CAMERAS; DISTRIBUTED COMPUTER SYSTEMS; INTELLIGENT ROBOTS; LASERS; LEVEL MEASUREMENT; NONLINEAR FILTERING; RANGE FINDERS; SENSOR NETWORKS; TARGETS;

TARGET TRACKING;

EID: 69549106499     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2008.4650634     Document Type: Conference Paper

References (19)

1. Y. Iwashita, R. Kurazume, T. Tsuji, K. Hara, and T. Hasegawa, "Fast implementation of level set method and its realtime applications," in Proc. IEEE International Conference on Systems, Man and Cybernetics 2004, 2004, pp. 6302-6307. (Pubitemid 40408099)
2. Y. Iwashita, R. Kurazume, K. Hara, and T. Hasegawa, "Robust motion capture system against target occlusion using fast level set method," in Proc. IEEE International Conference on Robotics and Automation, 2006, pp. 168-174. (Pubitemid 44940070)
3. S. Arulampalam, S. Maskell, N. Gordon, and T. Clapp, "A tutorial on particle filters for on-line non-linear/non-gaussian bayesian tracking," IEEE Transactions on Signal Processing, vol.50, no.2, pp. 174-188, Feb. 2002.
4. Z. Khan, T. Balch, and F. Dellaert, "Mcmc-based particle filtering for tracking a variable number of interacting targets," IEEE Tranaction on Pattern Analysis and Machine Intelligence, vol.27, no.11, pp. 1805-1918, November 2005.
5. K. Nakamura, H. Zhao, R. Shibasaki, K. SAKAMOTO, T. Ohga, and N. Suzukawa, "Tracking pedestrians using multiple single-row laser range scanners and its reliability evaluation," Systems and computers in Japan, vol.37, no.7, pp. 1-11, 2006. (Pubitemid 43760020)
6. E. Prassler, J. Scholz, and A. Elfes, "Tracking people in a railway station during rush hour," in In H.I.Christensen, editor, Proc. Computer Vision Systems, First International Conference, ICVSf99, 1999, pp. 162-179.
7. A. Fod, A. Howard, and M. J. Mataric, "A laser-based people tracker," in Proc. International Conference on Robotics and Automation 2002, 2002, pp. 3024-3029.
8. A. Brooks and S. Williams, "Tracking people with networks of heterogeneous sensors," in Proc. Australasian Conference on Robotics and Automation 2003, 2003.
9. M. P. Michalowski and R. Simmons, "Multimodal person tracking and attention classification," in Proc. HRIf06, 2006.
10. B. Kluge, C. Kohler, and E. Prassler, "Fast and robust tracking of multiple moving objects with a laser range finder," in Proc. International Conference on Robotics and Automation 2001, 2001, pp. 1683-1688.
11. D. Schulz, W. Burgard, D. Fox, and A. B. Cremers, "Tracking multiple moving targets with a mobile robot using particle filters and statistical data association," in Proc. International Conference on Robotics and Automation 2001, 2001, pp. 1665-1670.
12. M. Montemerlo, S. Thrun, and W. Whittaker, "Conditional particle filters for simultaneous mobile robot localization and people-tracking," in Proc. International Conference on Robotics and Automation 2002, 2002, pp. 695-701. (Pubitemid 34916676)
13. M. Lindstom and J.-O. Eklundh, "Detecting and tracking moving objects from a mobile platform using a laser range scanner," in In. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2001.
14. M. Kobilarov, J. Hyams, P. Batavia, and G. S. Sukhatme, "People tracking and following with mobile robot using an omnidirectional camera and a laser," in Proc. International Conference on Robotics and Automation 2006, 2006.
15. S. Osher and J. A. Sethian, "Fronts propagating with curvature dependent speed: Algorithm based on hamilton-javobi formation," Journal of Computational Physics, vol.79, pp. 12-49, 1988.
16. W. R. Gilks and C. Berzuini, "Following a moving target - monte carlo inference for dynamic bayesian models," Journal of the Royal Statistical Society Series B, vol.63, pp. 127-146, 2001. (Pubitemid 33392467)
17. N. Oudjane, C. Musso, and F. Legland, "Improving regularised particle filters," A. Doucet, N. De Freitas, and N. Gordon, editors, Sequential Monte Carlo Methods in Practice, vol. chapter 12, pp. 247-271, 2001.
18. C. Hue, J. P. L. Cadre, and P. Perez, "Tracking multiple objects with particle filtering," IEEE Transactions on Aerospace and Electronic Systems, vol.38, no.3, pp. 791-812, 2002. (Pubitemid 35377497)
19. J. Vermaak, A. Doucet, and P. Perez, "Maintaining multi-modality through mixture tracking," in Proc. the International Conference on Computer Vision, 2003, pp. 1110-1116.