An Integrated Object Detection and Tracking Framework for Mobile Robots

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Abstract

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.
Original languageEnglish
Title of host publication Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO : ICINCO
EditorsOleg Gusikhin, Kurosh Madani, Janan Zaytoon
Volume1
PublisherSCITEPRESS Digital Library
Publication date2020
Pages513-520
ISBN (Electronic)978-989-758-442-8
DOIs
Publication statusPublished - 2020
Event17th International Conference on Informatics in Control, Automation and Robotics (ICINCO) -
Duration: 7. Jul 20209. Jul 2020

Conference

Conference17th International Conference on Informatics in Control, Automation and Robotics (ICINCO)
Period07/07/202009/07/2020

Keywords

  • Automation
  • Detection
  • Mobile robots
  • Perception system
  • Visual tracking

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