Searching and tracking people in crowded urban areas where they can be occluded by static or dynamic obstacles is an important behavior for social robots which assist humans in urban outdoor environments. In this work, we propose a method that can handle in real-time searching and tracking people using a Highest Belief Particle Filter Searcher and Tracker. It makes use of a modified Particle Filter (PF), which, in contrast to other methods, can do both searching and tracking of a person under un...
Goldhoorn, A., Garrell, A., Alquezar, R., Sanfeliu, A. Searching and tracking people in urban environments with static and dynamic obstacles. "Robotics and autonomous systems", 1 Desembre 2017, vol. 98, p. 147-157.