Object localization and tracking based on multiple sensor fusion in intelligent home
A novel scheme for object localization and tracking under family environment is presented based on fusion of multiple sensors, which include two laser sensors and camera sensors. The two laser sensors and two cameras are used to locate the object separately, and multiple sensors probability data association fusion algorithm is used to track the objects. Firstly, object detection is realized by laser sensors and vision sensors separately. Secondly, the laser data is fused by Extended Kalman Filter. To obtain the vision location results, background model is built by adaptive background updating based on motion history images. Background subtraction is used to acquire the original location result, which is filtered by Kalman Filter. Finally, multiple sensors probability data association fusion algorithm is used to fuse the different kinds of data. Experimental results show that the scheme can efficiently solve the problem of object localization and tracking.
Intelligent Space Multiple Sensors Fusion Object Localization and Tracking
Jianqin Yin Guohui Tian Guodong Li
School of Information Science and Engineering, University of Jinan, Jinan, 250022;School of Control School of Control Science and Engineering, Shandong University, Jinan, 250061
国际会议
长沙
英文
5266-5270
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）