Adaptive online learning for human tracking

Bing-Fei Wu, Pin Yi Tseng, Cheng Lung Jen, Tai Yu Tsou, Kai Tse Hsiao

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

In this work, we present a multiple classifiers system cascades an on-line learning RGB-D appearance model framework in which detection, recognition, and tracking are highly coupled for a wheelchair robot equipped with a Kinect sensor to improve the efficiency of the care assistance and quality of accompanying service. The on-line trained classifiers use the surrounding background as negative examples in the updating which allows the algorithm to choose the most discriminative features between the target and the background, incrementally adjust to the changes in specific tracking environment. Meanwhile, a depth clustering based human detection is proposed to extract human candidates. Accordantly, an on-line learning RGB-D appearance model is cascaded to strengthen the human tracking function by dealing with color, depth and position information from the identified caregiver. Consequently, several experiments have been conducted to demonstrate the effectiveness and feasibility in real world environments.

Original languageEnglish
Title of host publication2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest
Pages152-157
Number of pages6
DOIs
StatePublished - 1 Dec 2013
Event2013 CACS International Automatic Control Conference, CACS 2013 - Nantou, Taiwan
Duration: 2 Dec 20134 Dec 2013

Publication series

Name2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest

Conference

Conference2013 CACS International Automatic Control Conference, CACS 2013
CountryTaiwan
CityNantou
Period2/12/134/12/13

Keywords

  • Feature Selection
  • Haar-like Feature
  • Incremental Learning
  • Online Boosting
  • RGB-D Tracking
  • Semi-supervised Learning
  • Variance based Haar-like Feature
  • Wheelchair Robot

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  • Cite this

    Wu, B-F., Tseng, P. Y., Jen, C. L., Tsou, T. Y., & Hsiao, K. T. (2013). Adaptive online learning for human tracking. In 2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest (pp. 152-157). [6734124] (2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest). https://doi.org/10.1109/CACS.2013.6734124