Beuter, Niklas: 3D human detection and tracking on a mobile platform for situation awareness. 2011
Inhalt
- 1 Motivation
- 1.1 Scenario Description
- 1.2 Problem Description and Definition
- 1.3 Contribution of this Thesis
- 1.4 Overview
- 2 Visual Basis for Situation Awareness
- 2.1 Description of Sensor Set-ups
- 2.1.1 Monochrome Vision
- 2.1.2 Stereo Vision
- 2.1.3 Multi-Camera Set-up
- 2.1.4 Active Cameras for 3D Vision
- 2.1.5 Sensor Ensemble
- 2.2 Object Detection
- 2.2.1 Object Detection ideal for Static Cameras
- 2.2.2 Object Detection for Static and Moving Cameras
- 2.3 Visual Tracking
- 2.3.1 Feature Tracking
- 2.3.2 Multiple Feature Tracking
- 2.3.3 Template Tracking
- 2.3.4 Kernel Tracking
- 2.3.5 Tracking using Filters
- 2.3.6 Tracking by Multiple Models for Adaptive Estimation
- 2.3.7 Tracking by Joint Probabilistic Data Association Filter
- 2.4 Summary
- 3 Acquiring 3D Scene Models in Vista Spaces
- 3.1 Introduction in Scene Analysis
- 3.2 Proposed System Overview
- 3.3 Preprocessing of the Input Data
- 3.4 3D Motion Computing using Optical Flow
- 3.5 Detection and Tracking of Dynamic Objects
- 3.6 Adaptive Background Modelling
- 3.7 Experiments and Results
- 3.8 Conclusion
- 4 A 3D Tracking System on a Moving Platform
- 4.1 Request of Static and Moving Cameras
- 4.2 Tracking Systems on a Mobile Platform
- 4.2.1 Laser-Based Tracking Systems
- 4.2.2 Person Following Tracking Systems
- 4.2.3 Motion Detection Tracking Systems
- 4.2.4 Mobile Robot Tracking Systems
- 4.2.5 Vehicle Tracking Systems
- 4.3 A Modular Person Tracking System
- 4.4 Object Detection Module
- 4.5 Hypotheses Management
- 4.6 Tracking Module
- 4.7 Experiments and Results
- 4.7.1 Evaluated Datasets
- 4.7.2 Qualitative Results of the Proposed System Approach
- 4.7.3 Quantitative Analysis of the Proposed System Approach
- 4.7.4 Enhancement through Pre-Detection
- 4.7.5 Analysis of the Proposed Tracking Algorithm
- 4.7.6 Comparison with State-Of-The-Art Tracking Algorithms
- 4.7.7 Comparison with a laser based Person Tracking
- 4.7.8 Parameter Analysis
- 4.8 Conclusion
- 5 Attention Focus for Situation Awareness
- 5.1 Attention Systems in Human-Robot-Interaction
- 5.2 Directing the Attention Focus
- 5.3 Weak Object Model
- 5.4 Experiments and Results
- 5.5 Conclusion
- 6 Conclusion and Outlook
- A Appendix
- B Appendix
- Bibliography