Authors:
A. A. Mekonnen
;
F. Lerasle
and
A. Herbulot
Affiliation:
CNRS, LAAS, Univ de Toulouse, UPS and LAAS, France
Keyword(s):
Multi-target Tracking, Multi-sensor Fusion, Automated Human Detection, Cooperative Perception Systems.
Related
Ontology
Subjects/Areas/Topics:
Applications
;
Computer Vision, Visualization and Computer Graphics
;
Motion, Tracking and Stereo Vision
;
Pattern Recognition
;
Robotics
;
Software Engineering
;
Tracking and Visual Navigation
;
Video Surveillance and Event Detection
Abstract:
In this paper, we present a cooperative multi-person tracking system between external fixed-view wall mounted cameras and a mobile robot. The proposed system fuses visual detections from the external cameras and laser based detections from a mobile robot, in a centralized manner, employing a “tracking-by-detection” approach within a Particle Filtering scheme. The enhanced multi-person tracker’s ability to track targets in the surveilled area distinctively is demonstrated through quantitative experiments.