Vision and RFID-based person tracking in crowds from a mobile robot

Abstract

This paper deals with the tracking of persons in a human cluttered environment. It is performed by an active perception system, consisting of a camera mounted on a pan-tilt unit and a 360° RFID detection system which are embedded on a mobile robot. Particle filters enable the fusion of heterogeneous data into the proposal distribution from which the particles are sampled. The information provided by the tracker is then used to build sensor-based dedicated control laws in order to make the robot follow the RFID tagged person. Finally, experiments on our mobile robot are presented in order to highlight the relevance and complementarity of the developed perceptual functions.