CONDENSATION—Conditional Density Propagation forVisual Tracking
International Journal of Computer Vision
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
Adaptive speaker identification with audiovisual cues for movie content analysis
Pattern Recognition Letters - Video computing
RFID-based techniques for human-activity detection
Communications of the ACM - Special issue: RFID
A joint particle filter for audio-visual speaker tracking
ICMI '05 Proceedings of the 7th international conference on Multimodal interfaces
Localisation intra-bâtiment multi-technologies: RFID, wifi et vision
UbiMob '05 Proceedings of the 2nd French-speaking conference on Mobility and ubiquity computing
Multiple Human Objects Tracking in Crowded Scenes
ICPR '06 Proceedings of the 18th International Conference on Pattern Recognition - Volume 03
Real-Time Multi-View Face Detection and Pose Estimation in Video Stream
ICPR '06 Proceedings of the 18th International Conference on Pattern Recognition - Volume 04
Multi-cue Pedestrian Detection and Tracking from a Moving Vehicle
International Journal of Computer Vision
Natural person-following behavior for social robots
Proceedings of the ACM/IEEE international conference on Human-robot interaction
Guest Editorial: Advances in vision algorithms and systems beyond the visible spectrum
Computer Vision and Image Understanding
High-Performance Rotation Invariant Multiview Face Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multi-modal tracking of people using laser scanners and video camera
Image and Vision Computing
Audio -Visual Biometric Based Speaker Identification
ICCIMA '07 Proceedings of the International Conference on Computational Intelligence and Multimedia Applications (ICCIMA 2007) - Volume 04
A ZigBee-based sensor node for tracking people's locations
CASEMANS '08 Proceedings of the 2nd ACM international conference on Context-awareness for self-managing systems
Multimodal people detection and tracking in crowded scenes
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 3
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
Dual-sensor fusion for indoor user localisation
MM '11 Proceedings of the 19th ACM international conference on Multimedia
State-driven particle filter for multi-person tracking
ACIVS'12 Proceedings of the 14th international conference on Advanced Concepts for Intelligent Vision Systems
Cooperative passers-by tracking with a mobile robot and external cameras
Computer Vision and Image Understanding
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In this paper, we address the problem of realizing a human following task in a crowded environment. We consider an active perception system, consisting of a camera mounted on a pan-tilt unit and a 360^o RFID detection system, both embedded on a mobile robot. To perform such a task, it is necessary to efficiently track humans in crowds. In a first step, we have dealt with this problem using the particle filtering framework because it enables the fusion of heterogeneous data, which improves the tracking robustness. In a second step, we have considered the problem of controlling the robot motion to make the robot follow the person of interest. To this aim, we have designed a multi-sensor-based control strategy based on the tracker outputs and on the RFID data. Finally, we have implemented the tracker and the control strategy on our robot. The obtained experimental results highlight the relevance of the developed perceptual functions. Possible extensions of this work are discussed at the end of the article.