Real-time Motion Tracking from a Mobile Robot

@article{Jung2010RealtimeMT,
  title={Real-time Motion Tracking from a Mobile Robot},
  author={Boyoon Jung and Gaurav S. Sukhatme},
  journal={International Journal of Social Robotics},
  year={2010},
  volume={2},
  pages={63-78}
}
A mobile robot needs to perceive the motions of external objects to perform tasks successfully in a dynamic environment. We propose a set of algorithms for multiple motion tracking from a mobile robot equipped with a monocular camera and a laser rangefinder. The key challenges are 1. to compensate the ego-motion of the robot for external motion detection, and 2. to cope with transient and structural noise for robust motion tracking. In our algorithms, the robot ego-motion is directly estimated… CONTINUE READING

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