2012 Fiscal Year Final Research Report
Multi-Person Tracking using Overlapping Silhouette Templates for a Mobile Robot
| Project/Area Number |
23700203
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Toyohashi University of Technology |
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Principal Investigator |
SATAKE Junji 豊橋技術科学大学, 大学院・工学研究科, 助教 (60392726)
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| Project Period (FY) |
2011 – 2012
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| Keywords | パターン認識 / 人物追跡 / 移動ロボット |
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| Research Abstract |
We developed a tracking method which uses depth templates of person shape applied to a dense depth image. An accurate, stable tracking is realized by using overlapping silhouette templates which consider how persons overlap in the image. The number of image comparison is decreased by using an approximated likelihood map based on kernel density estimation. We performed experiments of specific person following in real environment where many ordinary people exist, and analyzed the results.
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