An Integrated Object Detection and Tracking Framework for Mobile Robots

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Abstrakt

In this paper, we propose an end-to-end-solution to the problem of multi-object tracking on a mobile robot. The tracking system consists of a process where we project 2D multi-object detections to the robots base frame, using RGB-D sensor data. These detections are then transformed to the map frame using a localization algorithm. This system predicts trajectories of humans and objects in the environment of the robot and can be adapted to work with any detector and track from multiple cameras. The system can then be used to build a temporally consistent costmap to improve navigation strategies.
OriginalsprogEngelsk
Titel Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO : ICINCO
RedaktørerOleg Gusikhin, Kurosh Madani, Janan Zaytoon
Vol/bind1
ForlagSCITEPRESS Digital Library
Publikationsdato2020
Sider513-520
ISBN (Elektronisk)978-989-758-442-8
DOI
StatusUdgivet - 2020
Begivenhed17th International Conference on Informatics in Control, Automation and Robotics (ICINCO) -
Varighed: 7. jul. 20209. jul. 2020

Konference

Konference17th International Conference on Informatics in Control, Automation and Robotics (ICINCO)
Periode07/07/202009/07/2020

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