Multi-person detecting and tracking based on RGB-D sensor for a robot vision system
by Mingxin Jiang; Dusheng Wang; Tianshuang Qiu
International Journal of Embedded Systems (IJES), Vol. 9, No. 1, 2017

Abstract: In this paper, we address the problem of automatically detecting and tracking a variable number of objects in complex scenes using a RGB-D sensor on the robot system. We propose a novel approach for multi-object detecting by fusing RGB information and depth information. Meanwhile, this paper presents a robust multi-cue approach for multi-object tracking. A spatiotemporal object representation is proposed, which combines a generative colour model and a discriminative texture classifier. We employ a Bayesian framework based on particle filtering to achieve integrated object detection and tracking from a robot vision system. The experimental results show that the proposed method yields good tracking performance in real world environment.

Online publication date: Tue, 24-Jan-2017

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