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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/29760
標題: | 室內與戶外之互動性物體追蹤 Interacting Object Tracking in Human Inhabited Environments |
作者: | Tzu-Chien Lo 羅子建 |
指導教授: | 王傑智(Chieh-Chih Wang) |
關鍵字: | 移動物體,追蹤,互動, moving object,tracking,interaction, |
出版年 : | 2007 |
學位: | 碩士 |
摘要: | 物體追蹤在人類居住的環境中是一個相當複雜的問題。高度擁擠中處理資料關聯是非常富有挑戰性。來自於各式各樣移動物體的不同運動模式,造成我們在建立運動模型時有許多困難。根據傳統建立運動模型的技術,我們提出場景及周圍物體互動模型,分別去處理長期及短期在被追蹤物體與環境之間的互動。使用我們的互動模型,可以很容易地偵測出不正常的行為。另外,『移動-停止』假設的追蹤技術利用在處理『移動-停止-移動』的情況。我們使用的資料來源是安裝在PAL1機器人上的雷射測距儀。在許多困難的遮蔽情形中,我們成功地追蹤許多互動的行人、腳踏車、摩托車、汽車與卡車。 Tracking in human inhabited environment is a daunting task. High crowdedness causes challenging data association problems. Different motion patterns from a wide variety of moving objects make motion modeling difficult. Accompanying with traditional motion modeling techniques, this paper introduces a scene interaction model and a neighboring object interaction model to respectively take long-term and short-term interactions between the tracked objects and its surroundings into account. With the use of the interaction models, anomalous activity recognition is accomplished easily. In addition, move-stop hypothesis tracking is applied to deal with move-stop-move maneuvers. The proposed approaches have been demonstrated using data from a laser scanner mounted on the PAL1 robot. Interacting pedestrians, bicycles, motorcycles, cars and trucks are successfully tracked in difficult situations with occlusion. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/29760 |
全文授權: | 有償授權 |
顯示於系所單位: | 資訊工程學系 |
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