Fast RGB-D people tracking for service robots

  title={Fast RGB-D people tracking for service robots},
  author={Matteo Munaro and Emanuele Menegatti},
  journal={Auton. Robots},
Service robots have to robustly follow and interact with humans. In this paper, we propose a very fast multi-people tracking algorithm designed to be applied on mobile service robots. Our approach exploits RGB-D data and can run in real-time at very high frame rate on a standard laptop without the need for a GPU implementation. It also features a novel depthbased sub-clustering method which allows to detect people within groups or even standing near walls. Moreover, for limiting drifts and… CONTINUE READING
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