Tracking expanded objects using the Viterbi algorithm

Tracking of moving objects, which means determining the positions of the humans in the surrounding, is one of the goals in the field of mobile robots that operate in populated environments. This work is concerned with the special problem of tracking expanded objects in such vicinities. As a solution...

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Hauptverfasser:	Kraussling, A., Schneider, F.E., Wildermuth, D.
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Sprache:	eng
Schlagworte:	Humans Laser modes Mobile robots Real time systems Robot sensing systems Shape Sonar Target tracking Testing Viterbi algorithm
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creator	Kraussling, A. Schneider, F.E. Wildermuth, D.
description	Tracking of moving objects, which means determining the positions of the humans in the surrounding, is one of the goals in the field of mobile robots that operate in populated environments. This work is concerned with the special problem of tracking expanded objects in such vicinities. As a solution, a Viterbi based algorithm, which can be useful for real-time systems, is presented. Thus, a maximum-a-posteriori (MAP) filtering technique is applied to perform the tracking process. The mathematical background of the algorithm is proposed. The algorithm is tested and evaluated on real and simulated data. The method uses the robots' sensors in form of a laser range finder and a motion and observation model of the objects being tracked.
doi_str_mv	10.1109/IS.2004.1344813
format	Conference Proceeding
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The method uses the robots' sensors in form of a laser range finder and a motion and observation model of the objects being tracked.</description><subject>Humans</subject><subject>Laser modes</subject><subject>Mobile robots</subject><subject>Real time systems</subject><subject>Robot sensing systems</subject><subject>Shape</subject><subject>Sonar</subject><subject>Target tracking</subject><subject>Testing</subject><subject>Viterbi algorithm</subject><isbn>9780780382787</isbn><isbn>0780382781</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2004</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotj0tLAzEUhQMiKHXWLtzkD8x485okSyk-CgUXVrflTnKnTe2LJIL-eyv2cOCDs_jgMHYroBMC_P3srZMAuhNKayfUBWu8dXCqctI6e8WaUjZwijZaKrhmZpExfKb9itP3EfeRIj8MGwq18K_yN9c18Y9UKQ-J43Z1yKmudzfscsRtoebMCXt_elxMX9r56_Ns-jBvk7CmtsEL0lpH6ZQ3gw0wuDGYSCEqQtubPo7kjaVojJSoRlS9IUDQvXAC0aoJu_v3JiJaHnPaYf5Zns-pX5jhRBw</recordid><startdate>2004</startdate><enddate>2004</enddate><creator>Kraussling, A.</creator><creator>Schneider, F.E.</creator><creator>Wildermuth, D.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>2004</creationdate><title>Tracking expanded objects using the Viterbi algorithm</title><author>Kraussling, A. ; Schneider, F.E. ; Wildermuth, D.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-c91e444d28395b7c0b8fc5decd3ea7656dfe957ed5522a3fa365e0a046181aa73</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2004</creationdate><topic>Humans</topic><topic>Laser modes</topic><topic>Mobile robots</topic><topic>Real time systems</topic><topic>Robot sensing systems</topic><topic>Shape</topic><topic>Sonar</topic><topic>Target tracking</topic><topic>Testing</topic><topic>Viterbi algorithm</topic><toplevel>online_resources</toplevel><creatorcontrib>Kraussling, A.</creatorcontrib><creatorcontrib>Schneider, F.E.</creatorcontrib><creatorcontrib>Wildermuth, D.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Kraussling, A.</au><au>Schneider, F.E.</au><au>Wildermuth, D.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Tracking expanded objects using the Viterbi algorithm</atitle><btitle>2004 2nd International IEEE Conference on 'Intelligent Systems'. 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subjects	Humans Laser modes Mobile robots Real time systems Robot sensing systems Shape Sonar Target tracking Testing Viterbi algorithm
title	Tracking expanded objects using the Viterbi algorithm
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