Multi-robot Multiple Hypothesis Tracking for pedestrian tracking with detection uncertainty

The problem of tracking walking people with a team of moving robots is tackled in this paper. We extend the Multiple Hypothesis Tracking method so as to handle measurements coming from multiple sensors and to allow for one-to-many associations between targets and measurements. Derivation of hypothes...

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Bibliographic Details
Published in2011 19th Mediterranean Conference on Control and Automation pp. 315 - 320
Main Authors Tsokas, Nicolas A., Kyriakopoulos, Kostas J.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2011
Subjects
Leg
Legged locomotion
Multi-robot
multi-target tracking
multiple hypothesis tracking
people tracking
Robot kinematics
Robot sensing systems
Target tracking
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ISBN9781457701245
1457701243
DOI10.1109/MED.2011.5983124

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Summary:The problem of tracking walking people with a team of moving robots is tackled in this paper. We extend the Multiple Hypothesis Tracking method so as to handle measurements coming from multiple sensors and to allow for one-to-many associations between targets and measurements. Derivation of hypotheses probabilities accounts for the overlapping fields of view of the robots sensors and for uncertainty in detection. In the context of two experiments involving people walking among moving robots, the successful integration of our tracking algorithm to a real-world scenario is assessed.
ISBN:9781457701245
1457701243
DOI:10.1109/MED.2011.5983124