Observatorio de I+D+i UPM

Memorias de investigación
Research Publications in journals:
Tracking and following pedestrian trajectories, an approach for autonomous surveillance of critical infrastructures
Year:2015
Research Areas
  • Automatic,
  • Movil robots,
  • Service robots,
  • Navigation,
  • Inspection robots
Information
Abstract
Purpose This paper presents a system that is fully capable of addressing the issue of detection, tracking and following pedestrians, which is a very challenging task, especially when it is considered for using in large outdoors infrastructures. Three modules; detection, tracking and following, are integrated and tested over long distances in semi-structured scenarios, where static or dynamic obstacles, including other pedestrians, can be found. Design/methodology/approach The detection is based on the probabilistic fusion of a laser scanner and a camera. The tracking module pairs observations with previously detected targets by using Kalman filters and a Mahalanobis-distance. The following module, allows to safely pursue the target by using a well-defined navigation scheme. Findings The system can track pedestrians from static position to 3.46 m/s (running). It handles occlusions, crossings or miss-detections, keeping track of the position even if the pedestrian is only detected in 55\% of the observations. Moreover, it autonomously selects and follows a target at a maximum speed of 1.46 m/s. Originality/value The main novelty of this study is the integration of the three algorithms in a fully operational system, tested in real outdoor scenarios. Furthermore, the addition of labelling to the detection algorithm allows using the full range of a single sensor while preserving the high performance of a combined detection. False positives rate is reduced by handling the uncertainty level when pairing observations. The inclusion of pedestrian speed in the model speeds up and simplifies tracking process. Finally, the most suitable target is automatically selected by a scoring system.
International
Si
JCR
Si
Title
Industrial Robot-an International Journal
ISBN
0143-991X
Impact factor JCR
0,622
Impact info
Datos JCR del año 2013
Volume
42
http://dx.doi.org/10.1108/IR-02-2015-0037
Journal number
5
From page
1
To page
25
Month
SIN MES
Ranking
Q3
Participants
  • Autor: Mario Andrei Garzon Oviedo (UPM)
  • Autor: Antonio Barrientos Cruz (UPM)
  • Autor: Jaime del Cerro Giner (UPM)
  • Autor: Andrés Alacid (UPM)
  • Autor: Efstathios Fotidiadis (UPM)
  • Autor: Gonzalo Ruy Rodríguez Canosa (UPM)
  • Autor: Bang-Chen Wang (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Robótica y Cibernética
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
S2i 2020 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)