Title :
Vision and RFID-based person tracking in crowds from a mobile robot
Author :
Germa, T. ; Lerasle, Frédéric ; Ouadah, Noureddine ; Cadenat, Viviane ; Devy, Michel
Author_Institution :
LAAS, CNRS, Toulouse, France
Abstract :
This paper deals with the tracking of persons in a human cluttered environment. It is performed by an active perception system, consisting of a camera mounted on a pan-tilt unit and a 360° RFID detection system which are embedded on a mobile robot. Particle filters enable the fusion of heterogeneous data into the proposal distribution from which the particles are sampled. The information provided by the tracker is then used to build sensor-based dedicated control laws in order to make the robot follow the RFID tagged person. Finally, experiments on our mobile robot are presented in order to highlight the relevance and complementarity of the developed perceptual functions.
Keywords :
cameras; mobile robots; optical tracking; particle filtering (numerical methods); radiofrequency identification; robot vision; sensor fusion; RFID detection system; RFID tagged person; RFID-based person tracking; active perception system; camera; heterogeneous data fusion; human cluttered environment; mobile robot; pan-tilt unit; particle filter; robot vision; sensor-based dedicated control law; Cameras; Detectors; Directive antennas; Mobile robots; Proposals; RFID tags; Radio frequency; Radiofrequency identification; Robot vision systems; Target tracking;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354475
