Simultaneous robot localization and person tracking using rao-blackwellised particle filters with multi-modal sensors

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

Volumn , Issue , 2008, Pages 3452-3457

  Qian, Kun ^a   Ma, Xudong ^a   Dai, Xianzhong ^a  

^a SOUTHEAST UNIVERSITY   (China)

Author keywords

[No Author keywords available]

Indexed keywords

GLOBAL LOCALIZATION; GLOBAL UNCERTAINTY; LOCALIZATION AND TRACKING; MULTIMODAL SENSOR; PARTICLE FILTER; PERSON TRACKING; PROBABILISTIC APPROACHES; RAO-BLACKWELLISED PARTICLE FILTERS; ROBOT LOCALIZATION; ROBOT POSE; SENSOR NOISE;

AIR FILTERS; COMPUTATIONAL EFFICIENCY; CONTROL THEORY; INTELLIGENT ROBOTS; NONLINEAR FILTERING; ROBOT APPLICATIONS;

SENSORS;

EID: 69549134174     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2008.4650771     Document Type: Conference Paper

References (15)

1. W. Hu, M. Hu, X. Zhou, T. Tan, et al, "Principal Axis-Based Correspondence between Multiple Cameras for People Tracking," IEEE Trans. Pattern Analysis and Machine Intelligence, vol.28, no.4, 2006, pp. 663-671. (Pubitemid 43264664)
2. N.T. Nguyen, S Venkatesh, G. West, et al, "Cameras Coordination in a Surveillance System", Acta Automatica Sinica, vol.29, no.2, 2003, pp. 408-422.
3. M. Rosencrantz, G. Gordon, and S. Thrun, "Locating Moving Entities in Indoor Environments with Teams of Mobile Robots," in Proc. 2nd International Joint Conf. on Autonomous Agents and Multiagent Systems (AAMAS), 2003.
4. M. Montemerlo, S. Thrun, and W. Whittaker, "Conditional particle filters for simultaneous Mobile Robot Localization and People-Tracking.," in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), 2002, pp. 695-701. (Pubitemid 34916676)
5. A. Doucet, N. de Freitas, K. Murphy, and S. Russel, "Rao- Blackwellized particle filtering for dynamic Bayesian networks," in Proc. Conf. Uncertainty in Artificial Intelligence (UAI), Stanford, CA, 2000, pp. 176-183.
6. G. Grisetti, C. Stachniss, and W. Burgard, "Improved Techniques for Grid Mapping with Rao-Blackwellized Particle Filters," IEEE Trans. Robotics, vol.23, no.1, Feb 2007, pp. 34-46. (Pubitemid 46443340)
7. C. Kwok and D. Fox, "Map-Based Multiple Model Tracking of a Moving Object", in Proc. RoboCup Symposium, 2004, pp. 18-33.
8. Z. W. Liang, X. D. Ma, X. Z. Dai, "Information-theoretic Approaches Based on Sequential Monte Carlo to Collaborative Distributed Sensors for Mobile Robot Localization," Journal of Intelligent and Robotic Systems, to be published.
9. D. Schulz, D. Fox, and J. Hightower, "People Tracking with Anonymous and ID-Sensors Using Rao-Blackwellised Particle Filters," in Int. Joint Conf. on Artificial Intelligence (IJCAI), Acapulco, Mexico, 2003, pp. 921-928.
10. F. Zhao, J. Shin, and J. Reich, "Information-driven Dynamic Sensor Collaboration Tracking Applications," IEEE Signal Processing Mag., vol.19, 2002, pp. 61-72.
11. S. Thrun, D. Fox, and W. Burgard, "Monte Carlo Localization with Mixture Proposal Distribution," in Proc. AAAI National Conf. Artificial Intelligence, Austin, Texas, 2000, pp. 859-865.
12. S. Thrun, D. Fox, W. Burgard and F Dellaert, "Robust Monte Carlo Localization for Mobile Robots," Artifial Intelligence, 128, 2001, pp. 99-141. (Pubitemid 32421511)
13. J. S. Liu, R. Chen, et al, "A Theoretical Framework for Sequential Importance Sampling and Resampling," Sequential Monte Carlo in Practice. Springer-Verlag, 2001.
14. Ali T, Alouani and Theodore R. Rice, "On Optimal Synchronous and Asynchronous Track Fusion," Optical Engineering, vol.37, no.2, 1998, pp. 427-433. (Pubitemid 128493276)
15. M. Scheutz, J. McRaven, and G. Cserey, "Fast, reliable, adaptive, bimodal people tracking for indoor environments," in Proc. of the 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Sendai, Japan, 2004, vol.2, pp. 1347-1352. (Pubitemid 40275786)