Panoramic Vision and Laser Range Finder Fusion for Multiple Person Tracking

– This paper describes a fusion of panoramic vision and laser range data to track multiple persons simultaneously from a stationary robot. Particle filters are used to track people in the plane of the laser and a mixture of Gaussians background subtraction algorithm is used to maintain a colour model for each person being tracked. Colour information is used to recognize lost targets that have reentered the scene.

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Punarjay Chakravarty, Ray Jarvis
• Keywords: Gaussians Background Subtraction, IROS 2006, Laser Range Data, Panoramic Vision, Robotics