Person tracking with a mobile robot using particle filters in complex environment
Ho Sang Kwon, Young Joong Kim, Myo Taeg Lim · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2005
Based on a particle filter, a method that mobile robots can track a person in complex environment was presented. The problem of person following for mobile robot has been researched many different areas. The main issues of following a person are real time constraint, motion change of person during the tracking and occlusion with other objects. Using appearance-adaptive models in a particle filter, a robust visual tracking algorithm was realized. The appearance-adaptive model can handle occlusion with other people while the target is moving.