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Sensors 2010, 10(10), 8865-8887; doi:10.3390/s101008865
Article

Stereo Vision Tracking of Multiple Objects in Complex Indoor Environments

1,* , 1
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1 Electronics Department, University of Alcalá, Campus Universitario s/n, 28805, Alcalá de Henares, Madrid, Spain 2 Departamento de Sistemas Telemáticos y Computación, Universidad Rey Juan Carlos, C/Tulipán s/n, 28933, Móstoles, Madrid, Spain
* Author to whom correspondence should be addressed.
Received: 31 August 2010 / Revised: 7 September 2010 / Accepted: 25 September 2010 / Published: 28 September 2010
(This article belongs to the Special Issue Intelligent Sensors - 2010)
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Abstract

This paper presents a novel system capable of solving the problem of tracking multiple targets in a crowded, complex and dynamic indoor environment, like those typical of mobile robot applications. The proposed solution is based on a stereo vision set in the acquisition step and a probabilistic algorithm in the obstacles position estimation process. The system obtains 3D position and speed information related to each object in the robot’s environment; then it achieves a classification between building elements (ceiling, walls, columns and so on) and the rest of items in robot surroundings. All objects in robot surroundings, both dynamic and static, are considered to be obstacles but the structure of the environment itself. A combination of a Bayesian algorithm and a deterministic clustering process is used in order to obtain a multimodal representation of speed and position of detected obstacles. Performance of the final system has been tested against state of the art proposals; test results validate the authors’ proposal. The designed algorithms and procedures provide a solution to those applications where similar multimodal data structures are found.
Keywords: 3D tracking; Bayesian estimation; stereo vision sensor; mobile robots 3D tracking; Bayesian estimation; stereo vision sensor; mobile robots
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Marrón-Romera, M.; García, J.C.; Sotelo, M.A.; Pizarro, D.; Mazo, M.; Cañas, J.M.; Losada, C.; Marcos, Á. Stereo Vision Tracking of Multiple Objects in Complex Indoor Environments. Sensors 2010, 10, 8865-8887.

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