Other Abstract To deal with the problem of tracking a particular person with the mobile robot in the dynamic scene, we have to tackle the occlusion situation during the tracking. In this paper, the author proposes an approach to the problem and especially for the occlusion situations. The occlusion problem is one of the most difficult problems in the visual tracking. Because the camera of the robot is moving during the tracking process the image background and the illumination are changing rapidly, which causes the difficulty of the visual tracking with the mobile robot. In this paper the author analyzes the robot tracking problem deeply and based on the condition of the application scenario the author proposes an occlusion dealing process that includes ‘occlusion detector’, ‘special tracking algorithm during the occlusion’ and ‘object localization after occlusion’. This paper also surveys the current situation of the visual tracking in the computer vision field. As the test bed of the approach of this paper, the mobile robot platform is introduced at the end of this paper. The main contributions of this paper are the following three-folds. 1) This paper describes the certain problem—the robot following a particular person under occlusion situations, and also analyses this problem especially the difficulties and finally proposes an approach for this problem. 2) This paper proposes a system for the occlusion problems which includes three parts, the ‘occlusion detector’, the ‘special tracking algorithm during the occlusion’ and the ‘object localization after occlusion’. The experiments show that the proposed approach is effective and efficient to the problem. 3) The mobile robot system framework is also included in this work, which contains the robot hardware system, the software system and the person-tracking control diagram.
GB/T 7714 白鹏. 在动态环境下的视觉跟踪中的遮挡问题研究[D]. 中国科学院自动化研究所. 中国科学院研究生院,2008.