Tracking Articulating Objects from Ground Vehicles using Mixtures of Mixtures

— An algorithm for tracking articulating objects from moving camera platforms is presented. Mixtures of mixtures are used to model the appearance of the object and the background. The state of the object is tracked using a particle filter. Egomotion information are estimated and used to set the state variance of the particle filter. Results of tracking human objects from an unmanned ground vehicle are used to evaluate the tracking algorithm.

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Wael Abd-Almageed, Mohamed E. Hussein, Larry S. Davis
• Keywords: IROS 2006, Mixtures, Particle filter, Robotics, Unmanned Ground Vehicle