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Frontiers of Intelligent Autonomous Systems pp 53–68Cite as

A Software Architecture for RGB-D People Tracking Based on ROS Framework for a Mobile Robot

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Part of the book series: Studies in Computational Intelligence ((SCI,volume 466))

Abstract

This paper describes the software architecture of a distributed multi-people tracking algorithm for mobile platforms equipped with a RGB-D sensor. Our approach features an efficient point cloud depth-based clustering, an HOG-like classification to robustly initialize a person tracking and a person classifier with online learning to drive data association. We explain in details how ROS functionalities and tools play an important role in the possibility of the software to be real time, distributed and easy to configure and debug.

Tests are presented on a challenging real-world indoor environment and tracking results have been evaluated with the CLEAR MOT metrics. Our algorithm proved to correctly track 96% of people with very limited ID switches and few false positives, with an average frame rate above 20 fps. We also test and discuss its applicability to robot-people following tasks and we report experiments on a public RGB-D dataset proving that our software can be distributed in order to increase the framerate and decrease the data exchange when multiple sensors are used.

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Author information

Authors and Affiliations

  1. Intelligent Autonomous Systems Laboratory (IAS-Lab), Department of Information Engineering, The University of Padova, via Gradenigo 6B, 35131, Padova, Italy

    Matteo Munaro, Filippo Basso, Stefano Michieletto, Enrico Pagello & Emanuele Menegatti

Authors
  1. Matteo Munaro
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  2. Filippo Basso
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  3. Stefano Michieletto
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  4. Enrico Pagello
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  5. Emanuele Menegatti
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Corresponding author

Correspondence to Matteo Munaro .

Editor information

Editors and Affiliations

  1. School of Information, and Communication Engineering, Sungkyunkwan University, 300 Cheoncheon-dong, Gyeonggi-do, 440-746, Korea, Republic of (South Korea)

    Sukhan Lee

  2. , Dept of Aerospace Information Eng, Konkuk University, 1 Hwayang-dong, Seoul, 143-701, Korea, Republic of (South Korea)

    Kwang-Joon Yoon

  3. , School of Electrical Engineering, Pusan National University, San 40, Jangcheon-dong, Pusan, 609-735, Korea, Republic of (South Korea)

    Jangmyung Lee

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Munaro, M., Basso, F., Michieletto, S., Pagello, E., Menegatti, E. (2013). A Software Architecture for RGB-D People Tracking Based on ROS Framework for a Mobile Robot. In: Lee, S., Yoon, KJ., Lee, J. (eds) Frontiers of Intelligent Autonomous Systems. Studies in Computational Intelligence, vol 466. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-35485-4_5

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  • DOI: https://doi.org/10.1007/978-3-642-35485-4_5

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-35484-7

  • Online ISBN: 978-3-642-35485-4

  • eBook Packages: EngineeringEngineering (R0)

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