stereo vision tracking of multiple objects in complex indoor environments立体视觉跟踪多个对象在复杂的室内环境.pdfVIP

Sensors 2010, 10, 8865-8887; doi:10.3390/s101008865 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Stereo Vision Tracking of Multiple Objects in Complex Indoor Environments Marta Marr贸n-Romera 1,*, Juan C. Garc铆a 1, Miguel A. Sotelo 1, Daniel Pizarro 1, Manuel Mazo 1, Jos茅 M. Ca帽as 2, Cristina Losada 1 and 脕lvaro Marcos 1 1 Electronics Department, University of Alcal谩, Campus Universitario s/n, 28805, Alcal谩 de Henares, Madrid, Spain; E-Mails: jcarlos@depeca.uah.es (J.G.); sotelo@depeca.uah.es (M.S.); pizarro@depeca.uah.es (D.P.); mazo@depeca.uah.es (M.M.); losada@depeca.uah.es (C.L.); alvaro.marcos@depeca.uah.es (A.M.) 2 Departamento de Sistemas Telem谩ticos y Computaci贸n, Universidad Rey Juan Carlos, C/Tulip谩n s/n, 28933, M贸stoles, Madrid, Spain; E-Mail: jmplaza@gsyc.es (J.C .) * Author to whom correspondence should be addressed; E-Mail: marta@depeca.uah.es; Tel.: +34-918856586; Fax: +34-918856591. Received: 31 August 2010; in revised form: 7 September 2010 / Accepted: 25 September 2010 / Published: 28 September 2010 Abstract: This paper presents a novel system capable of solving the problem of tracking multiple targets in a crowded, complex and dynamic indoor environment, like those typical of mobile robot applications. The proposed solution is based on a stereo vision set in the acquisition step and a probabilistic algorithm in the obstacles position estimation process. The system obtains 3D position and speed information related to each object in the robot鈥檚 environment; then it achieves a