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Authors: William Kristian Juel ; Frederik Haarslev ; Norbert Krüger and Leon Bodenhagen

Affiliation: SDU Robotics, University of Southern Denmark, Campusvej 55, Odense C, Denmark

Keyword(s): Detection, Visual Tracking, Mobile Robots, Perception System and Automation.

Abstract: In this paper, we propose an end-to-end-solution to the problem of multi-object tracking on a mobile robot. The tracking system consists of a process where we project 2D multi-object detections to the robots base frame, using RGB-D sensor data. These detections are then transformed to the map frame using a localization algorithm. This system predicts trajectories of humans and objects in the environment of the robot and can be adapted to work with any detector and track from multiple cameras. The system can then be used to build a temporally consistent costmap to improve navigation strategies.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Juel, W. ; Haarslev, F. ; Krüger, N. and Bodenhagen, L. (2020). An Integrated Object Detection and Tracking Framework for Mobile Robots. In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-442-8; ISSN 2184-2809, SciTePress, pages 513-520. DOI: 10.5220/0009888405130520

@conference{icinco20,
author={William Kristian Juel and Frederik Haarslev and Norbert Krüger and Leon Bodenhagen},
title={An Integrated Object Detection and Tracking Framework for Mobile Robots},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2020},
pages={513-520},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009888405130520},
isbn={978-989-758-442-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - An Integrated Object Detection and Tracking Framework for Mobile Robots
SN - 978-989-758-442-8
IS - 2184-2809
AU - Juel, W.
AU - Haarslev, F.
AU - Krüger, N.
AU - Bodenhagen, L.
PY - 2020
SP - 513
EP - 520
DO - 10.5220/0009888405130520
PB - SciTePress

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