THERMAL VISION BASED INTELLIGENT SYSTEM FOR HUMAN DETECTION AND TRACKING IN MOBILE ROBOT CONTROL SYSTEM

Main Article Content

Ivan T. ĆIRIĆ Žarko M. ĆOJBAŠIĆ Vlastimir D. NIKOLIĆ Danijela D. RISTIĆ-DURRANT Milica V. ĆIRIĆ Miloš B. SIMONOVIĆ Ivan R. PAVLOVIĆ

Abstract

This paper presents the results of the authors in thermal vision based mobile robot control. The most important segment of the high level control loop of mobile robot platform is an intelligent real-time algorithm for human detection and tracking. Temperature variations across same objects, air flow with different temperature gradients, reflections, person overlap while crossing each other, and many other non-linearities, uncertainty and noise, put challenges in thermal image processing and therefore the need of computationally intelligent algorithms for obtaining the efficient performance from human motion tracking system. The main goal was to enable mobile robot platform or any technical system to recognize the person in indoor environment, localize it and track it with accuracy high enough to allow adequate human-machine interaction. The developed computationally intelligent algorithms enables robust and reliable human detection and tracking based on neural network classifier and autoregressive neural network  for time series prediction. Intelligent algorithm used for thermal image segmentation gives accurate inputs for classification.

Article Details

How to Cite
ĆIRIĆ, Ivan T. et al. THERMAL VISION BASED INTELLIGENT SYSTEM FOR HUMAN DETECTION AND TRACKING IN MOBILE ROBOT CONTROL SYSTEM. Thermal Science, [S.l.], v. 20, p. S1553-S1559, feb. 2017. ISSN 2334-7163. Available at: <http://thermal-science.tech/journal/index.php/thsci/article/view/1671>. Date accessed: 14 dec. 2017. doi: https://doi.org/10.2298/TSCI16S5553Ć.
Section
Articles
Received 2017-02-07
Accepted 2017-02-07
Published 2017-02-07

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