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Searching and tracking people in urban environments with static and dynamic obstacles

Author
Goldhoorn, A.; Garrell, A.; Alquezar, R.; Sanfeliu, A.
Type of activity
Journal article
Journal
Robotics and autonomous systems
Date of publication
2017-12-01
Volume
98
First page
147
Last page
157
DOI
https://doi.org/10.1016/j.robot.2017.06.005 Open in new window
Project funding
Aerial robotic system integrating multiple arms and advanced manipulation capabilities for inspection and maintenance
Repository
http://hdl.handle.net/2117/114791 Open in new window
URL
http://www.sciencedirect.com/science/article/pii/S0921889016302603?via%3Dihub Open in new window
Abstract
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...
Citation
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.
Keywords
Human-robot-interaction, Particle filter, Search and rescue robots, Urban robotics
Group of research
VIS - Artificial Vision and Intelligent Systems

Participants