@conference {44, title = {Robot and Obstacles Localization and Tracking with an External Camera Ring}, booktitle = {2008 IEEE International Conference on Robotics and Automation (ICRA08)}, year = {2008}, month = {05/2008}, pages = {516-521}, publisher = {IEEE}, organization = {IEEE}, address = {Pasadena, California (USA)}, abstract = {In this paper a ring of calibrated and synchronized
cameras is used for achieving robot and obstacle localization
inside a common observed area. To avoid complex appearance
matching derived from the wide-baseline arrangement of cameras,
a metric occupancy grid is obtained by intersection of
silhouettes projected onto the floor. A particle filter is proposed
for tracking multiple objects by using the grid as observation
data. A clustering algorithm is included in the filter to increase
the robustness and adaptability of the multimodal estimation
task. To preserve identity of the robot from the set of tracked
objects, odometry readings are used to compute a Maximum
Likelihood (ML) global trajectory identification. As a proof of
concept, real results are obtained in a long sequence with a
mobile robot moving in a human-cluttered scene.

}, isbn = {978-1-4244-1647-9}, issn = {1050-4729}, doi = {10.1109/ROBOT.2008.4543259 }, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=4543259\&isnumber=4543169}, attachments = {https://webmail.geintra-uah.org/en/system/files/2008-icra-pizarro.pdf}, author = {Daniel Pizarro and Marta Marron and Daniel Peon and Manuel Mazo and Garcia, Juan Carlos and Miguel Angel Sotelo and Enrique Santiso} }