A novel SURF-based algorithm for tracking a 'Human' in a dynamic environment

Meenakshi Gupta, Swagat Kumar, Sourav Garg, Nishant Kejriwal, Laxmidhar Behera

Research output: Chapter in Book/Report/Conference proceedingChapter

2 Citations (Scopus)

Abstract

© 2014 IEEE. Detecting and tracking a human from a mobile robot platform has several applications in service robotics where a robot is expected to assist humans. In this paper, we propose a novel interest point-based algorithm that can track a human reliably under several challenging situations like variation in illumination, pose change, scaling, camera motion and occlusion. The limitations of point-based methods are overcome using colour information and imposing a structure on the colour blobs. Whenever sufficient number of SURF matching points are not available for a given frame, the presence of human is detected using Markov random field based graph matching algorithm. Imposition of structure on coloured blobs helps in eliminating background objects having similar colour distribution. The stability-versus-plasticity dilemma inherent in tracking over long run is resolved by selecting new templates on-line and maintaining a tree of templates which is updated with new information. The performance of the algorithm is demonstrated through simulation on standard datasets and the computation time is found to be comparable with existing SURF-based tracking methods.
Original languageEnglish
Title of host publication2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1004-1009
Number of pages6
ISBN (Print)9781479951994
DOIs
Publication statusPublished - 12 Dec 2014
Event13th International Conference on Control Automation Robotics and Vision - Marina Bay Sands, Singapore, Singapore
Duration: 10 Dec 201412 Dec 2014

Publication series

Name2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014

Conference

Conference13th International Conference on Control Automation Robotics and Vision
CountrySingapore
CitySingapore
Period10/12/1412/12/14

Keywords

  • Binary Search Tree
  • Graph Matching
  • Human-Tracking
  • Mobile Robot
  • SURF

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    Gupta, M., Kumar, S., Garg, S., Kejriwal, N., & Behera, L. (2014). A novel SURF-based algorithm for tracking a 'Human' in a dynamic environment. In 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 (pp. 1004-1009). (2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARCV.2014.7064443