Labeled multi-Bernoulli tracking for industrial mobile platform safety
Tharindu Rathnayake, Reza Hoseinnezhad, Ruwan Tennakoon, Alireza Bab‐Hadiashar · 2017
This paper presents a track-before-detect labeled multi-Bernoulli filter tailored for industrial mobile platform safety applications. We derive two application specific separable likelihood functions that capture the geometric shape and colour information of the human targets who are wearing a high visibility vest. These likelihoods are then used in a labeled multi-Bernoulli filter with a novel two step Bayesian update. Preliminary simulation results evaluated using several video sequences show that the proposed solution can successfully track human workers wearing a luminous yellow colour vest in an industrial environment.