Model-based object tracking for distributed autonomous systems

摘要

This study describes the concept of object tracking in distributed autonomous systems. In particular modelling approaches for multi-object problems are addressed and applied to indoor people tracking. Additional to basics on localization of sensors, a model based on finite sets is discussed together with a proposed integration within the system which respects a detailed sensor model and the orientation of objects in the tracking process. The advantages of an object-sensitive tracking and classification approach are evaluated on real data.