MULTI-MODAL PERSON DETECTION AND TRACKING FROM A MOBILE ROBOT IN A CROWDED ENVIRONMENT

A. A. Mekonnen, F. Lerasle, I. Zuriarrain

Abstract

This paper addresses multi-modal person detection and tracking using a 2D SICK Laser Range Finder and a visual camera from a mobile robot in a crowded and cluttered environment. A sequential approach in which the laser data is segmented to filter human leg like structures to generate person hypothesis which are further refined by a state of the art parts based visual person detector for final detection, is proposed. Based on this detection routine, a Monte Carlo Markov Chain (MCMC) particle filtering strategy is utilized to track multiple persons around the robot. Integration of the implemented multi-modal person detector and tracker in our robotic platform and associated experiments are presented. Results obtained from all tests carried out have been clearly reported proving the multi-modal approach outperforms its single sensor counterparts taking detection, subsequent use, computation time, and precision into account. The work presented here will be used to define navigational control laws for passer-by avoidance during a service robot’s person following activity.

References

  1. Alami, R., Chatila, R., Fleury, S., Ghallab, M., and Ingrand, F. (1998). An architecture for autonomy. In Int.Journal of Robotics Research (IJRR'98), 17:315- 337.
  2. Breitenstein, M., Reichlin, F., Leibe, B., Koller-Meier, E., and Van Gool, L. (2009). Robust tracking-bydetection using a detector confidence particle filter. In IEEE 12th Int. Conf. on Computer Vision (ICCV'09), pages 1515 -1522.
  3. Calisi, D., Iocchi, L., and Leone, G. R. (2007). Person following through appearance models and stereo vision using a mobile robot. In Proceedings of Int. Workshop on Robot Vision, pages 46-56.
  4. Chen, Z. and Birchfield, S. T. (2007). Person following with a mobile robot using binocular feature-based tracking. In Proceedings of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'07).
  5. Cui, J., Zha, H., Zhao, H., and Shibasaki, R. (2005). Tracking multiple people using laser and vision. In Proceedings of the 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'05), pages pp.1301-1306.
  6. Dalal, N. and Triggs, B. (2005). Histograms of oriented gradients for human detection. In Proceedings of the Int. Conf. on Computer Vision and Pattern Recognition (CVPR'05), pages 886-893.
  7. Felzenszwalb, P. F., Girshick, R. B., and McAllester, D. (2009). Discriminatively trained deformable part models, release 3. http://people.cs.uchicago.edu/ pff/latent-release3/.
  8. Felzenszwalb, P. F., Girshick, R. B., McAllester, D. A., and Ramanan, D. (2010). Object detection with discriminatively trained part-based models. IEEE Trans. Pattern Anal. Mach. Intell. (TPAMI'10), 32(9):1627- 1645.
  9. Fong, T. W., Nourbakhsh, I., and Dautenhahn, K. (2003). A survey of socially interactive robots. Robotics and Autonomous Systems.
  10. Germa, T., Lerasle, F., Ouadah, N., Cadenat, V., and Devy, M. (2009). Vision and RFID-based person tracking in crowds from a mobile robot. In Proceedings of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'09), pages 5591-5596. IEEE Press.
  11. Isard, M. and MacCormick, J. (2001). Bramble: a bayesian multiple-blob tracker. In Proceedings of 8th IEEE Int. Conf. on Computer Vision (ICCV'01), volume 2, pages 34 -41 vol.2.
  12. Khan, Z., Balch, T., and Dellaert, F. (2005). Mcmc-based particle filtering for tracking a variable number of interacting targets. IEEE Trans. Pattern Anal. Mach. Intell. (TPAMI'05), 27(11):1805-1918.
  13. Laptev, I. (2006). Improvements of object detection using boosted histograms. In Proceedings of the British Machine Vision Conference (BMVC'06), pages 949-958.
  14. Rasmussen, C. and Hager, G. D. (2001). Probabilistic data association methods for tracking complex visual objects. IEEE Trans. Pattern Anal. Mach. Intell.(TPAMI'01), 23(6):560-576.
  15. Reid, D. (1979). An algorithm for tracking multiple targets. IEEE Transactions on Automatic Control, 24(6):843- 854.
  16. Schiele, B., Andriluka, M., Majer, N., Roth, S., and Wojek, C. (2009). Visual people detection: Different models, comparison and discussion. In Proceedings of the IEEE ICRA 2009 Workshop on People Detection and Tracking, pages 1-8.
  17. Smith, K., Gatica-Perez, D., and Odobez, J.-M. (2005). Using particles to track varying numbers of interacting people. In Proceedings of the Int. Conf. on Computer Vision and Pattern Recognition (CVPR'05), pages 962-969, Washington, DC, USA. IEEE Computer Society.
  18. Spinello, L., Triebel, R., and Siegwart, R. (2008). Multimodal people detection and tracking in crowded scenes. In Proceedings of the 23rd National Conference on Artificial intelligence (AAAI'08), pages 1409- 1414. AAAI Press.
  19. Xavier, J., Pacheco, M., Castro, D., and Ruano, A. (2005). Fast line, arc/circle and leg detection from laser scan data in a player driver. In Proceedings of the Int. Conf. on Robotics and Automation (ICRA'05).
  20. Zivkovic, Z. and Kröse, B. (2007). Part based people detection using 2d range data and images. In Proceedings of the 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'07).
Download


Paper Citation


in Harvard Style

A. Mekonnen A., Lerasle F. and Zuriarrain I. (2011). MULTI-MODAL PERSON DETECTION AND TRACKING FROM A MOBILE ROBOT IN A CROWDED ENVIRONMENT . In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2011) ISBN 978-989-8425-47-8, pages 511-520. DOI: 10.5220/0003367705110520


in Bibtex Style

@conference{visapp11,
author={A. A. Mekonnen and F. Lerasle and I. Zuriarrain},
title={MULTI-MODAL PERSON DETECTION AND TRACKING FROM A MOBILE ROBOT IN A CROWDED ENVIRONMENT},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2011)},
year={2011},
pages={511-520},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003367705110520},
isbn={978-989-8425-47-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2011)
TI - MULTI-MODAL PERSON DETECTION AND TRACKING FROM A MOBILE ROBOT IN A CROWDED ENVIRONMENT
SN - 978-989-8425-47-8
AU - A. Mekonnen A.
AU - Lerasle F.
AU - Zuriarrain I.
PY - 2011
SP - 511
EP - 520
DO - 10.5220/0003367705110520