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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.
|Title of host publication||Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO : ICINCO|
|Editors||Oleg Gusikhin, Kurosh Madani, Janan Zaytoon|
|Publisher||SCITEPRESS Digital Library|
|Publication status||Published - 2020|
|Event||17th International Conference on Informatics in Control, Automation and Robotics (ICINCO) - |
Duration: 7. Jul 2020 → 9. Jul 2020
|Conference||17th International Conference on Informatics in Control, Automation and Robotics (ICINCO)|
|Period||07/07/2020 → 09/07/2020|
- Mobile robots
- Perception system
- Visual tracking
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