Robust Multiperson Detection and Tracking for Mobile Service and Social Robots

@article{Li2012RobustMD,
  title={Robust Multiperson Detection and Tracking for Mobile Service and Social Robots},
  author={Liyuan Li and Shuicheng Yan and Xinguo Yu and Yeow Kee Tan and Haizhou Li},
  journal={IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)},
  year={2012},
  volume={42},
  pages={1398-1412}
}
This paper proposes an efficient system which integrates multiple vision models for robust multiperson detection and tracking for mobile service and social robots in public environments. The core technique is a novel maximum likelihood (ML)-based algorithm which combines the multimodel detections in mean-shift tracking. First, a likelihood probability which integrates detections and similarity to local appearance is defined. Then, an expectation-maximization (EM)-like mean-shift algorithm is… CONTINUE READING