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Person tracking in three-dimensional laser range data with explicit occlusion adaption
2011
2011 IEEE International Conference on Robotics and Automation
This paper presents an approach to exploit the richer information of sensor data provided by 3d laser rangefinders for the purpose of person tracking. Introduced is a method to adapt the observation model of a particle filter, to identify partial and full occlusions of a person, to determine the amount of occlusion behind an obstacle, and the occluding obstacle itself. This is done by tracing rays from positions near the person to the sensor and determining whether the ray hits an obstacle. The
doi:10.1109/icra.2011.5979984
dblp:conf/icra/ScholerBSSC11
fatcat:h6bjxulqpvftxcp5iy6chjyavq