loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Authors: Alejandro Olivas ; Miguel Muñoz-Bañón ; Edison Velasco and Fernando Torres

Affiliation: Group of Automation, Robotics and Computer Vision, University of Alicante, Alicante, Spain

Keyword(s): Target Tracking, Autonomous Vehicles, Robot Sensing Systems, Real-Time Systems.

Abstract: Single Object Tracking methods are yet not robust enough because they may lose the target due to occlusions or changes in the target’s appearance, and it is difficult to detect automatically when they fail. To deal with these problems, we design a novel method to improve object tracking by fusing complementary types of trackers, taking advantage of each other’s strengths, with an Extended Kalman Filter to combine them in a probabilistic way. The environment perception is performed with a 3D LiDAR sensor, so we can track the object in the point cloud and also in the front-view image constructed from the point cloud. We use our tracker-fusion method in a mobile robot to follow pedestrians, also considering the dynamic obstacles in the environment to avoid them. We show that our method allows the robot to follow the target accurately during long experimental sessions where the trackers independently fail, demonstrating the robustness of our tracker-fusion strategy.

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 18.223.107.149

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Olivas, A.; Muñoz-Bañón, M.; Velasco, E. and Torres, F. (2023). Robust Single Object Tracking and Following by Fusion Strategy. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-670-5; ISSN 2184-2809, SciTePress, pages 624-631. DOI: 10.5220/0012178900003543

@conference{icinco23,
author={Alejandro Olivas. and Miguel Muñoz{-}Bañón. and Edison Velasco. and Fernando Torres.},
title={Robust Single Object Tracking and Following by Fusion Strategy},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2023},
pages={624-631},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012178900003543},
isbn={978-989-758-670-5},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Robust Single Object Tracking and Following by Fusion Strategy
SN - 978-989-758-670-5
IS - 2184-2809
AU - Olivas, A.
AU - Muñoz-Bañón, M.
AU - Velasco, E.
AU - Torres, F.
PY - 2023
SP - 624
EP - 631
DO - 10.5220/0012178900003543
PB - SciTePress

- Science and Technology Publications, Lda.
RESOURCES

Proceedings

Papers

Authors

Ontology

CONTACTS

Science and Technology Publications, Lda
Avenida de S. Francisco Xavier, Lote 7 Cv. C,
2900-616 Setúbal, Portugal.

Phone: +351 265 520 185 (National fixed network call)
Fax: +351 265 520 186
Email: info@scitepress.org

EXTERNAL LINKS

PRIMORIS

INSTICC

SCITEVENTS

CROSSREF

PROCEEDINGS SUBMITTED FOR INDEXATION BY:

dblp

Ei Compendex

SCOPUS

Semantic Scholar

Google Scholar

Microsoft Academic