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Human detection and tracking in an assistive living service robot through multimodal data fusion

  • Cardiff University
Research Output:
Chapter in Book/Report/Conference proceeding
Conference contribution
 Peer-review

Abstract

A new method is proposed for using a combination of measurements from a laser range finder and a depth camera in a data fusion process that benefits from each modality's strong side. The combination leads to a significantly improved performance of the human detection and tracking in comparison with what is achievable from the singular modalities. The useful information from both laser and depth camera is automatically extracted and combined in a Bayesian formulation that is estimated using a Markov Chain Monte Carlo (MCMC) sampling framework. The experiments show that this algorithm can track robustly multiple people in real world assistive robotics applications.

Publication Information

Output type

Research Output:
Chapter in Book/Report/Conference proceeding
Conference contribution
 Peer-review

Original language

English

Publication milestones

  • Published - 13/09/2012

Publication status

Published - 13/09/2012

Publisher

Institute of Electrical and Electronics Engineers Inc., United States

Publication IDs

  • handle.net: 10547/625703
  • Scopus: 84868249827

Host publication title

nan

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