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Fast RGB-D people tracking for service robots

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Abstract

Service robots have to robustly follow and interact with humans. In this paper, we propose a very fast multi-people tracking algorithm designed to be applied on mobile service robots. Our approach exploits RGB-D data and can run in real-time at very high frame rate on a standard laptop without the need for a GPU implementation. It also features a novel depth-based sub-clustering method which allows to detect people within groups or even standing near walls. Moreover, for limiting drifts and track ID switches, an online learning appearance classifier is proposed featuring a three-term joint likelihood. We compared the performances of our system with a number of state-of-the-art tracking algorithms on two public datasets acquired with three static Kinects and a moving stereo pair, respectively. In order to validate the 3D accuracy of our system, we created a new dataset in which RGB-D data are acquired by a moving robot. We made publicly available this dataset which is not only annotated by hand, but the ground-truth position of people and robot are acquired with a motion capture system in order to evaluate tracking accuracy and precision in 3D coordinates. Results of experiments on these datasets are presented, showing that, even without the need for a GPU, our approach achieves state-of-the-art accuracy and superior speed.

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Notes

  1. http://www.microsoft.com/en-us/kinectforwindows.

  2. http://dinast.com/cyclopes-od.

  3. http://www.pmdtec.com/product_sservices/pmd_photonics_specs.php.

  4. http://www.dei.unipd.it/~munaro/KTP-dataset.html.

  5. http://www.btsbioengineering.com.

  6. Contained in his Matlab toolbox http://vision.ucsd.edu/~pdollar/toolbox.

  7. http://pascal.inrialpes.fr/data/human.

  8. http://pointclouds.org/documentation/tutorials/ground_based_rgbd_people_detection.php.

  9. http://www.ime.unicamp.br/~cnaber/mvnprop.pdf.

  10. http://www.informatik.uni-freiburg.de/~spinello/RGBD-dataset.html.

  11. Bayes++ - http://bayesclasses.sourceforge.net.

  12. Both computers had 4GB DDR3 memory.

  13. This is the resolution used for most of the tests reported in this paper.

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Acknowledgments

We wish to thank the Biongineering of Movement Laboratory of the University of Padova for providing the motion capture facility, in particular Martina Negretto and Annamaria Guiotto for their help for the data acquisition and all the people who took part to the KTP Dataset. We wish also to thank Filippo Basso and Stefano Michieletto as co-authors of the previous publications related to this work and Mauro Antonello for the advices on the disparity computation for the ETH dataset.

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  1. Department of Information Engineering, University of Padova, Via Gradenigo 6A, 35131 , Padova, Italy

    Matteo Munaro & Emanuele Menegatti

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  1. Matteo Munaro
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  2. Emanuele Menegatti
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Correspondence to Matteo Munaro.

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Munaro, M., Menegatti, E. Fast RGB-D people tracking for service robots. Auton Robot 37, 227–242 (2014). https://doi.org/10.1007/s10514-014-9385-0

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