Dataset Information

Stereo vision tracking of multiple objects in complex indoor environments.

ABSTRACT: This paper presents a novel system capable of solving the problem of tracking multiple targets in a crowded, complex and dynamic indoor environment, like those typical of mobile robot applications. The proposed solution is based on a stereo vision set in the acquisition step and a probabilistic algorithm in the obstacles position estimation process. The system obtains 3D position and speed information related to each object in the robot's environment; then it achieves a classification between building elements (ceiling, walls, columns and so on) and the rest of items in robot surroundings. All objects in robot surroundings, both dynamic and static, are considered to be obstacles but the structure of the environment itself. A combination of a Bayesian algorithm and a deterministic clustering process is used in order to obtain a multimodal representation of speed and position of detected obstacles. Performance of the final system has been tested against state of the art proposals; test results validate the authors' proposal. The designed algorithms and procedures provide a solution to those applications where similar multimodal data structures are found.

SUBMITTER: Marron-Romera M

PROVIDER: S-EPMC3230977 | biostudies-literature | 2010

REPOSITORIES: biostudies-literature

ACCESS DATA

Publications

Stereo vision tracking of multiple objects in complex indoor environments.

Marrón-Romera Marta M García Juan C JC Sotelo Miguel A MA Pizarro Daniel D Mazo Manuel M Cañas José M JM Losada Cristina C Marcos Alvaro A

Sensors (Basel, Switzerland) 20100928 10

This paper presents a novel system capable of solving the problem of tracking multiple targets in a crowded, complex and dynamic indoor environment, like those typical of mobile robot applications. The proposed solution is based on a stereo vision set in the acquisition step and a probabilistic algorithm in the obstacles position estimation process. The system obtains 3D position and speed information related to each object in the robot's environment; then it achieves a classification between bu ...[more]

PMID: 22163385

Similar Datasets

Project description:Motivated by recent findings of improved perceptual processing and perceptual-motor skill following stroboscopic vision training, the current study examined the performance and acquisition effects of stroboscopic vision methods that afford a different visual experience. In Experiment 1, we conducted a within-subject design study to examine performance of a multiple object tracking (MOT) task in different stroboscopic vision conditions (Nike Vapor Strobe®, PLATO visual occlusion, and intermittent display presentation) operating at 5.6, 3.2, or 1.8 Hz. We found that participants maintained MOT performance in the Vapor Strobe condition irrespective of strobe rate. However, MOT performance deteriorated as strobe rate was reduced in the other two stroboscopic vision conditions. Moreover, at the lowest strobe rate (1.8 Hz) there was an increase in probe reaction time, thus indicating an increased attentional demand due to the stroboscopic vision. In Experiment 2, we conducted a mixed design study to examine if practice in different stroboscopic vision conditions (Nike Vapor Strobe® and PLATO visual occlusion) influenced acquisition of a novel precision-aiming task [i.e., multiple object avoidance (MOA) task] compared to a normal vision group. Participants in the PLATO visual occlusion group exhibited worse performance during practice than the Vapor Strobe and normal vision groups. At post-test, the Vapor Strobe group demonstrated greater success and reduced end-point error than the normal vision and PLATO groups. We interpret these findings as showing that both an intermittent perturbation (Nike Vapor Strobe®) and elimination (PLATO visual occlusion and intermittent display presentation) of visual motion and form are more attention demanding (Experiment 1), however, the intermittent perturbation, but not elimination, of visual motion and form can facilitate acquisition of perceptual-motor skill (Experiment 2) in situations where it is necessary to maintain and update a spatio-temporal representation of multiple moving objects.

Dataset Information

Stereo vision tracking of multiple objects in complex indoor environments.

Publications

Stereo vision tracking of multiple objects in complex indoor environments.

Similar Datasets

OmicsDI is part of the ELIXIR infrastructure

Tweets