Person tracking with a mobile robot using particle filters in complex environment

Ho Sang Kwon, Young Joong Kim, Myo Taeg Lim

Research output: Contribution to journalConference articlepeer-review

1 Citation (Scopus)


Based on a particle filter, a method that mobile robots can track a person in complex environment was presented. The problem of person following for mobile robot has been researched many different areas. The main issues of following a person are real time constraint, motion change of person during the tracking and occlusion with other objects. Using appearance-adaptive models in a particle filter, a robust visual tracking algorithm was realized. The appearance-adaptive model can handle occlusion with other people while the target is moving.

Original languageEnglish
Article number60423S
JournalProceedings of SPIE - The International Society for Optical Engineering
Volume6042 II
Publication statusPublished - 2005
EventICMIT 2005: Control Systems and Robotics - Chongging, China
Duration: 2005 Sept 202005 Sept 23


  • Image processing
  • Mobile robot
  • Particle filter
  • Visual tracing

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering


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