An Integrated Object Detection and Tracking Framework for Mobile Robots

William Kristian Juel, Frederik Haarslev, Norbert Krüger, Leon Bodenhagen

2020

Abstract

In this paper, we propose an end-to-end-solution to the problem of multi-object tracking on a mobile robot. The tracking system consists of a process where we project 2D multi-object detections to the robots base frame, using RGB-D sensor data. These detections are then transformed to the map frame using a localization algorithm. This system predicts trajectories of humans and objects in the environment of the robot and can be adapted to work with any detector and track from multiple cameras. The system can then be used to build a temporally consistent costmap to improve navigation strategies.

Paper Citation

in Harvard Style

Juel W., Haarslev F., Krüger N. and Bodenhagen L. (2020). An Integrated Object Detection and Tracking Framework for Mobile Robots.In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-442-8, pages 513-520. DOI: 10.5220/0009888405130520

in Bibtex Style

@conference{icinco20,
author={William Juel and Frederik Haarslev and Norbert Krüger and Leon Bodenhagen},
title={An Integrated Object Detection and Tracking Framework for Mobile Robots},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2020},
pages={513-520},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009888405130520},
isbn={978-989-758-442-8},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - An Integrated Object Detection and Tracking Framework for Mobile Robots
SN - 978-989-758-442-8
AU - Juel W.
AU - Haarslev F.
AU - Krüger N.
AU - Bodenhagen L.
PY - 2020
SP - 513
EP - 520
DO - 10.5220/0009888405130520