Panoramic Vision and Laser Range Finder Fusion for Multiple Person Tracking
Punarjay Chakravarty, Ray A. Jarvis · 2006
This paper describes a fusion of panoramic vision and laser range data to track multiple persons simultaneously from a stationary robot. Particle filters are used to track people in the plane of the laser and a mixture of Gaussians background subtraction algorithm is used to maintain a colour model for each person being tracked. Colour information is used to recognize lost targets that have reentered the scene