Paper @ IROS 2017: Tracking a Varying Number of People with a Visually-Controlled Robotic Head



Yutong Ban, Xavier Alameda-Pineda, Fabien Badeig, Sileye Ba and Radu and Horaud


We’ve got a paper accepted at IROS 2017 on Tracking a Varying Number of People with a Visually-Controlled Robotic Head [1].

Abstract: Multi-person tracking with a robotic platform is one of the cornerstones of human-robot interaction. Challenges arise from occlusions, appearance changes and a time-varying number of people. Furthermore, the final system is constrained by the hardware platform: low computational capacity and limited field-of-view. In this paper, we propose a novel method to simultaneously track a time-varying number of persons in three-dimensions and perform visual servoing. The complementary nature of the tracking and visual servoing enables the system to: (i) track several persons while compensating for large ego-movements and (ii) visually control the robot to keep a selected person of interest within the field of view. We propose a variational Bayesian formulation allowing us to effectively solve the inference problem through the use of closed-form solutions. Importantly, this leads to a computationally efficient procedure that runs at 10 FPS. The experiments on the NAO-MPVS dataset confirm the importance of using visual servoing for tracking multiple persons.

References:

  1. Y. Ban, X. Alameda-Pineda, F. Badeig, S. Ba, and R. and Horaud, “Tracking a Varying Number of People with a Visually-Controlled Robotic Head,” in Intelligent Robots and Systems, Vancouver,Canada, 2017. [ bib pdf ] Award Novel Technology Paper Award Finalist
    @inproceedings{Ban-IROS-2017,
      title={Tracking a Varying Number of People with a Visually-Controlled Robotic Head},
      author={Yutong Ban and Xavier Alameda-Pineda and Fabien Badeig and Sileye Ba and and Radu Horaud},
      booktitle={Intelligent Robots and Systems},
      award={Novel Technology Paper Award Finalist},
      year={2017},
      address={Vancouver,Canada},
      pdf={http://xavirema.eu/wp-content/papercite-data/pdf/Ban-IROS-2017.pdf}
    }

Category: Research

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