Multi-modal tracking of people using laser scanners and video camera
Image and Vision Computing
Hybrid tracking of human operators using IMU/UWB data fusion by a Kalman filter
Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction
A Mobile Robot Control Framework: From Simulation to Reality
SIMPAR '08 Proceedings of the 1st International Conference on Simulation, Modeling, and Programming for Autonomous Robots
PerMIS '09 Proceedings of the 9th Workshop on Performance Metrics for Intelligent Systems
Integrating occlusion monitoring into human tracking for robot speed and separation monitoring
Proceedings of the Workshop on Performance Metrics for Intelligent Systems
Hi-index | 0.00 |
This paper will describe a flexible and inexpensive method of obtaining ground truth for the evaluation of Human Tracking systems. It is expected to be appropriate for evaluating systems used to allow robots and/or autonomous vehicles to operate safely around humans. It is currently focused on tracking people as they stand still or walk. It relies on multiple Laser Measurement Sensors(LMS) also called laser line scanners. The LMS's are mounted to scan in a horizontal plane. A method for quickly calibrating the relative position and orientation of each of the sensors to each other is described. A basic human tracking algorithm using the LMS's is described along with how the algorithm can be combined with a priori knowledge of the walkers intended path during the test. A graphical user interface(GUI) displays both the data obtained directly from the LMS and the output of the tracking algorithm. The GUI allows the user to verify and adjust the tracking algorithm without needing to annotate every frame, and therefore at a lower cost than systems that require extensive annotation. Tests were performed with people walking or running though several patterns, while data was simultaniously recorded by a more expensive system require individual receivers on each participant for comparison.