Moving Object Tracking Using the Particle Filter and SOM in Robotic Space with Network Sensors

摘要

Position estimation is one of the most important functions for the mobile robot navigating in Robotic Space. In order to achieve these goals, we present a method for representing, tracking and human following by fusing distributed multiple vision systems in Robotic Space, with application to pedestrian tracking in a crowd. And the article presents the integration of color distributions into SOM(Self Organizing Map) based particle filtering. Particle filters provide a robust tracking framework under ambiguity conditions. We propose to track the moving objects by generating hypotheses not in the image plan but on the top-view reconstruction of the scene. Comparative results on real video sequences show the advantage of our method for multi-motion tracking. Simulations are carried out to evaluate the proposed performance. Also, the method is applied to the intelligent environment and its performance is verified by the experiments.