均一な群衆環境におけるロボットの人物追従
Robot Person Following in Uniform Crowd Environment
RGBと深度情報をトランスフォーマーで統合する追跡器DTRDを開発し、似た人物が多い群衆中でも対象者を頑健に追従できるロボットシステムを実現した。
著者: Adarsh Ghimire, Xiaoxiong Zhang, Sajid Javed, Jorge Dias, Naoufel Werghi
分類: cs.CV, cs.RO
原文アブストラクト
Person-tracking robots have many applications, such as in security, elderly care, and socializing robots. Such a task is particularly challenging when the person is moving in a Uniform crowd. Also, despite significant progress of trackers reported in the literature, state-of-the-art trackers have hardly addressed person following in such scenarios. In this work, we focus on improving the perceptivity of a robot for a person following task by developing a robust and real-time applicable object tracker. We present a new robot person tracking system with a new RGB-D tracker, Deep Tracking with RGB-D (DTRD) that is resilient to tricky challenges introduced by the uniform crowd environment. Our tracker utilizes transformer encoder-decoder architecture with RGB and depth information to discriminate the target person from similar distractors. A substantial amount of comprehensive experiments and results demonstrate that our tracker has higher performance in two quantitative evaluation metrics and confirms its superiority over other SOTA trackers.
