ICRA 2011 Paper Abstract


Paper TuP104.2

Schöler, Florian (University of Bonn, Germany), Behley, Jens (University of Bonn), Steinhage, Volker (University of Bonn), Schulz, Dirk (FKIE), Cremers, Armin (University of Bonn)

Person Tracking in Three-Dimensional Laser Range Data with Explicit Occlusion Adaption

Scheduled for presentation during the Regular Sessions "Human Detection and Tracking II" (TuP104), Tuesday, May 10, 2011, 13:55−14:10, Room 3E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Human detection & tracking, Range Sensing, Recognition


This paper presents an approach to exploit the richer information of sensor data provided by 3d laser rangefinders for the purpose of person tracking. Introduced is a method to adapt the observation model of a particle filter, to identify partial and full occlusions of a person, to determine the amount of occlusion behind an obstacle, and the occluding obstacle itself. This is done by tracing rays from positions near the person to the sensor and determining whether the ray hits an obstacle. The laser range data is represented using a voxel grid, which facilitates efficient retrieval and data reduction. As our experiments show, our proposed tracking approach is able to reliably keep track of a person in real-time, even when only partially visible, when moving in uneven terrain, or when the person passes closely another person of different size.



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