Visual Tracking of an Object with its Motion Information

Tracking of a moving robot in surveillance video is an important task for coexistence of human beings with robots. An essential technology to manage coexistence environment of human beings and moving robots is separation and tracking of moving robots. For this task, the moving robot should be separated from other moving objects, i.e., human beings. We assume that the robot provides its additional motion information to the surveillance system to ease the task. The robot can be tracked from the other objects as a moving region being consistent with the additional motion information. For this purpose, we modify a tracking algorithm based on particle filter in order to incorporate the additional motion information. The results of an experiment on real surveillance video sequences have indicated that the proposed framework can separate and track a moving robot under the existence of several walking persons.