CASIA OpenIR  > 精密感知与控制研究中心  > 精密感知与控制
Adaptive Probabilistic Tracking with Discriminative Feature Selection for Mobile Robot
Wang, Peng1; Luo, Yongkang1; Li, Wanyi1; Qiao, Hong2
2016-10
Conference NameIEEE Ineternational Conference on Systems, Man, and Cybernetics
Source PublicationIEEE Ineternational Conference on Systems, Man, and Cybernetics
Conference DateOctober 9-12, 2016
Conference PlaceBudapest
AbstractObject tracking is one of the important tasks for mo- bile robot, and developing a robust and real-time visual tracking algorithm which can adaptively capture the varying appearance of target under challenging conditions for mobile robot is still an open problem. The main challenges of visual tracking for mobile robot come from variation of target's appearance and disturbance of environment. To cope with these problems, one of the most important topics is how to select the best tracking features. In this paper, we propose a novel adaptive probabilistic tracking method with discriminative feature selection for mobile robot. Different from the existing adaptive tracking algorithms which select the discriminative features in a finite feature set, the proposed method treats feature selection as an estimation problem of the best feature tunable parameters in a continuous space. The estimation of the best tunable parameters and object tracking are implemented via different particle filters with novel observation models. A novel target model updating strategy is also proposed to adapt to the varying appearance of target and resist gradual drift. Experiments show the robustness of the proposed method under challenging conditions.
KeywordObject Tracking Mobile Robot Discrinimative Feature Selection
Indexed ByEI
Language英语
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12114
Collection精密感知与控制研究中心_精密感知与控制
Corresponding AuthorLi, Wanyi
Affiliation1.Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences
2.The State Key Lab of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences
3.CAS Center for Excellence in Brain Science and Intelligence Technology (CEBSIT)
First Author AffilicationChinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
Corresponding Author AffilicationChinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Wang, Peng,Luo, Yongkang,Li, Wanyi,et al. Adaptive Probabilistic Tracking with Discriminative Feature Selection for Mobile Robot[C],2016.
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