GVU Technical Report Number:
GIT-GVU-99-19
Title:
Robust Tracking of People by a Mobile Robotic Agent
Authors:
Rawesak Tanawongsuwan
Alexander Stoytchev
Irfan A. Essa
Abstract:
We present methods for tracking people in dynamic and changing
environments from camera mounted on a mobile robot. We describe
processes to extract color, motion, and depth information from video
and we present methods to merge these processes to allow for reliable
tracking of people. We discuss how this merging of different
measurements can aid in instances where there is motion in the scene
due to large movements by people, camera movements, lighting
variations, even in the presence of skin-like colors in the scene. We
also apply the results from our tracking system for gesture
recognition in the context of human-robot interaction.
Keywords:
People-tracking, gesture recognition, vision-based user interfaces, robot
vision
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