Visual Control of Robots: High-Performance Visual Serving
Visual Control of Robots: High-Performance Visual Serving
ICONDENSATION: Unifying Low-Level and High-Level Tracking in a Stochastic Framework
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
People tracking with anonymous and ID-sensors using Rao-Blackwellised particle filters
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
A tutorial on particle filters for online nonlinear/non-GaussianBayesian tracking
IEEE Transactions on Signal Processing
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This paper deals with the tracking of persons in a human cluttered environment. It is performed by an active perception system, consisting of a camera mounted on a pan-tilt unit and a 360° RFID detection system which are embedded on a mobile robot. Particle filters enable the fusion of heterogeneous data into the proposal distribution from which the particles are sampled. The information provided by the tracker is then used to build sensor-based dedicated control laws in order to make the robot follow the RFID tagged person. Finally, experiments on our mobile robot are presented in order to highlight the relevance and complementarity of the developed perceptual functions.