Multi-person detecting and tracking based on RGB-D sensor for a robot vision system

Abstract

Abstract:In this paper, we address the problem of automatically detecting and tracking a variable number of objects in complex scenes using a RGB-D sensor on the robot system. We propose a novel approach for multi-object detecting by fusing RGB information and depth information. Meanwhile, this paper presents a robust multi-cue approach for multi-object tracking. A spatiotemporal object representation is proposed, which combines a generative colour model and a discriminative texture classifier. We employ a Bayesian framework based on particle filtering to achieve integrated object detection and tracking from a robot vision system. The experimental results show that the proposed method yields good tracking performance in real world environment.Keywords: combined multi-object detection; multi-cue object representation; particle filtering; RGB-D sensor. Dusheng Wang is a Professor of Electrical Information Engineering at Dalian Nationalities University. His research includes multimedia signal processing, speech coding and computer graphics. He was involved in more than 30 projects since 1983, including in charge of the project 'Research on low bit rate speech coding based on nonlinear time-frequency interpolation' sponsored by National Natural Science Foundation of China. He was employed as a research fellow and a scientist in Nanyang Technological University and Institute for Infocomm Research, Singapore to work with the projects in computer graphics. He developed various practical speech coders applied in wireless channel, business and military communication systems. He was awarded to over ten projects and has over 30 refereed technical publications.Tianshuang Qiu received his BS from Tianjin University, Tianjin, China, the MS from the Dalian University of Technology, Dalian, China and PhD from Southeastern University, Nanjing, China, all in Electrical Engineering, in 1983, 1993, and 1996. He was a post-doctoral researcher with the Department of Electrical Engineering, Northern Illinois University, DeKalb. Multi-person detecting and tracking based on RGB-D sensor for a robot vision system 55He is currently a Professor with the Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology. His current research interests include non-Gaussian and non-stationary signal processing, radio frequency signal processing, and image processing.