Target-Tracking based on Fusion of Unsynchronized Sensor Data from Vision System and Thermal Imaging Sensor

• Umetani Tomohiro

  Department of Intelligence and Informatics, Konan University

• Kuga Naomichi

  Graduate School of Natural Science, Konan University

• Tanaka Masahiro

  Department of Intelligence and Informatics, Konan University

• Wada Masahiro

  Department of Intelligence and Informatics, Konan University

• Ito Minoru

  Maizuru National College of Technology

抄録

This paper proposes a method for the integration of sensor data from a thermal imaging sensor and a vision system such as a camera to enable autonomous robots to perform probabilistic target tracking. Person tracking is essential to enable robots to interact with people and to track a target person. It is necessary to integrate multiple types of sensor data to improve the recognition performance because that of a vision system alone is not very good. However, the sensor data from an imaging device are captured asynchronously. Moreover, the interval of the acquisition of the sensor data is different. We use a stochastic model based on the asynchronous updating of the model of the tracking target by using measurement data from the camera and the thermal imaging sensor. The tracking model is implemented using RT-Middleware, which is used as a platform for the construction of distributed networked robots. The experimental results indicate the feasibility of the proposed method. <br>

収録刊行物

• システム制御情報学会論文誌

  システム制御情報学会論文誌 25 (11), 323-327, 2012

  一般社団法人 システム制御情報学会

キーワード

• tracking
• thermal image
• sensor data fusion
• state space model

詳細情報

• CRID: 1390282680142404096
• NII論文ID: 10031159519
• NII書誌ID: AN1013280X
• DOI: 10.5687/iscie.25.323
• ISSN: 2185811X
• ISSN: 13425668
• NDL書誌ID: 024111032
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I024111032
• 本文言語コード: en
• データソース種別:
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• 抄録ライセンスフラグ: 使用不可