People Tracking in Unknown Environment Based on Particle Filter and Social Force Model

In this paper, we introduce a novel scheme for tracking moving person based on particle filter and social force model. The tracking process contains two parts: the predict model and the decision model. We adopt the particle filter algorithm to predict the position and velocity of human. According to...

Full description

Saved in:
Bibliographic Details
Published inIntelligent Robotics and Applications Vol. 10464; pp. 335 - 342
Main Authors Wang, Yang, Chen, Wanmi, Luo, Yifan
Format Book Chapter
LanguageEnglish
Published Switzerland Springer International Publishing AG 2017
Springer International Publishing
SeriesLecture Notes in Computer Science
Subjects
Human tracking
Particle filter
Social force model
Online AccessGet full text
ISBN9783319652979
3319652974
ISSN0302-9743
1611-3349
DOI10.1007/978-3-319-65298-6_31

Cover

More Information
Summary:In this paper, we introduce a novel scheme for tracking moving person based on particle filter and social force model. The tracking process contains two parts: the predict model and the decision model. We adopt the particle filter algorithm to predict the position and velocity of human. According to the result of prediction, we adapt a sophisticated motion model to calculate the value of social force. Finally, we can control the velocity of robot dynamically through the value of social force.
ISBN:9783319652979
3319652974
ISSN:0302-9743
1611-3349
DOI:10.1007/978-3-319-65298-6_31