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Authors: Andreas Kräußling ; Frank E. Schneider and Dennis Wildermuth

Affiliation: Research Establishment for Applied Sciences (FGAN), Germany

Keyword(s): Multiple target tracking, expanded objects, Viterbi algorithm, crossing targets.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Surveillance

Abstract: Tracking, which means determining the positions of the humans in the surrounding, is one of the goals in the field of mobile robots that operate in populated environments. This paper is concerned with the special problem of tracking expanded objects under such constraints. A solution in form of a Viterbi based algorithm, which can be useful for real–time systems, is presented. Thus a Maximum–a–posteriori (MAP) filtering technique is applied to perform the tracking process. The mathematical background of the algorithm is proposed. The method uses the robots’ sensors in form of laser range finders and a motion and observation model of the objects being tracked. The special problem of the crossing of two expanded objects is considered. The mathematical background for this problem is enlightened and a solution for it in form of a heuristic algorithm is proposed. This algorithm is tested on simulated and real data.

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Paper citation in several formats:
Kräußling, A.; E. Schneider, F. and Wildermuth, D. (2004). TRACKING OF EXTENDED CROSSING OBJECTS USING THE VITERBI ALGORITHM. In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0; ISSN 2184-2809, pages 142-149. DOI: 10.5220/0001129601420149

@conference{icinco04,
author={Andreas Kräußling. and Frank {E. Schneider}. and Dennis Wildermuth.},
title={TRACKING OF EXTENDED CROSSING OBJECTS USING THE VITERBI ALGORITHM},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={142-149},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001129601420149},
isbn={972-8865-12-0},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - TRACKING OF EXTENDED CROSSING OBJECTS USING THE VITERBI ALGORITHM
SN - 972-8865-12-0
IS - 2184-2809
AU - Kräußling, A.
AU - E. Schneider, F.
AU - Wildermuth, D.
PY - 2004
SP - 142
EP - 149
DO - 10.5220/0001129601420149