An Introduction to the Kalman Filter
An Introduction to the Kalman Filter
Bayesian Estimation and the Kalman Filter
Bayesian Estimation and the Kalman Filter
People tracking with anonymous and ID-sensors using Rao-Blackwellised particle filters
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Multisensor-based human detection and tracking for mobile service robots
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on human computing
A tutorial on particle filters for online nonlinear/non-GaussianBayesian tracking
IEEE Transactions on Signal Processing
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
A human detection system for proxemics interaction
Proceedings of the 6th international conference on Human-robot interaction
Cognitive visual tracking and camera control
Computer Vision and Image Understanding
Real-time visuomotor update of an active binocular head
Autonomous Robots
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Modern service robots will soon become an essential part of modern society. As they have to move and act in human environments, it is essential for them to be provided with a fast and reliable tracking system that localizes people in the neighborhood. It is therefore important to select the most appropriate filter to estimate the position of these persons. This paper presents three efficient implementations of multisensor-human tracking based on different Bayesian estimators: Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) and Sampling Importance Resampling (SIR) particle filter. The system implemented on a mobile robot is explained, introducing the methods used to detect and estimate the position of multiple people. Then, the solutions based on the three filters are discussed in detail. Several real experiments are conducted to evaluate their performance, which is compared in terms of accuracy, robustness and execution time of the estimation. The results show that a solution based on the UKF can perform as good as particle filters and can be often a better choice when computational efficiency is a key issue.