Disparity weighted histogram-based object tracking for mobile robot systems

Cheolmin Choi, Jungho Ahn, Seungwon Lee, Hyeran Byun

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

A vision-based real-time human detection and tracking capability is one of the key components of surveillance systems, human computer interfaces and monitoring systems. In this paper, we propose a method which uses color and disparity information obtained with a stereo camera. In order to achieve optimal performance with respect to detection or tracking of objects, it is better to consider multiple features together. We have developed a tracking method in which color and disparity information can be combined in a histogram. We used skin color and disparity distribution information to distinguish between different people. For human tracking, we propose a color histogram that is weighted by the disparity distribution of the target. The proposed method is simple and robust for moving camera environments and overcomes the drawbacks of conventional color histogram-based tracking methods. Experimental results show the robustness of the proposed method in environments with changing backgrounds and the tracking capabilities of targets which have similar color distributions as backgrounds or other targets. The proposed method can be used in real-time mobile robot applications. Keywords: Real-time, color histogram, mobile robots.

Original languageEnglish
Title of host publicationAdvances in Artificial Reality and Tele-Existence - 16th International Conference on Artificial Reality and Telexistence, ICAT 2006, Proceedings
Pages584-593
Number of pages10
DOIs
Publication statusPublished - 2006 Dec 1
Event16th International Conference on Artificial Reality and Telexistence, ICAT 2006 - Hangzhou, China
Duration: 2006 Nov 292006 Dec 1

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume4282 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other16th International Conference on Artificial Reality and Telexistence, ICAT 2006
CountryChina
CityHangzhou
Period06/11/2906/12/1

Fingerprint

Object Tracking
Mobile Robot
Mobile robots
Histogram
Color
Color Histogram
Real-time
Target
Camera
Human Detection
Human-computer Interface
Cameras
Robot applications
Monitoring System
Surveillance
Skin
Interfaces (computer)
Robustness
Experimental Results
Monitoring

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Choi, C., Ahn, J., Lee, S., & Byun, H. (2006). Disparity weighted histogram-based object tracking for mobile robot systems. In Advances in Artificial Reality and Tele-Existence - 16th International Conference on Artificial Reality and Telexistence, ICAT 2006, Proceedings (pp. 584-593). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4282 LNCS). https://doi.org/10.1007/11941354_60
Choi, Cheolmin ; Ahn, Jungho ; Lee, Seungwon ; Byun, Hyeran. / Disparity weighted histogram-based object tracking for mobile robot systems. Advances in Artificial Reality and Tele-Existence - 16th International Conference on Artificial Reality and Telexistence, ICAT 2006, Proceedings. 2006. pp. 584-593 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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Choi, C, Ahn, J, Lee, S & Byun, H 2006, Disparity weighted histogram-based object tracking for mobile robot systems. in Advances in Artificial Reality and Tele-Existence - 16th International Conference on Artificial Reality and Telexistence, ICAT 2006, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 4282 LNCS, pp. 584-593, 16th International Conference on Artificial Reality and Telexistence, ICAT 2006, Hangzhou, China, 06/11/29. https://doi.org/10.1007/11941354_60

Disparity weighted histogram-based object tracking for mobile robot systems. / Choi, Cheolmin; Ahn, Jungho; Lee, Seungwon; Byun, Hyeran.

Advances in Artificial Reality and Tele-Existence - 16th International Conference on Artificial Reality and Telexistence, ICAT 2006, Proceedings. 2006. p. 584-593 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4282 LNCS).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Choi C, Ahn J, Lee S, Byun H. Disparity weighted histogram-based object tracking for mobile robot systems. In Advances in Artificial Reality and Tele-Existence - 16th International Conference on Artificial Reality and Telexistence, ICAT 2006, Proceedings. 2006. p. 584-593. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/11941354_60