Geintra

Different solutions have been proposed for multiple objects tracking based on probabilistic algorithms. In this chapter, the authors propose the use of a single particle filter to track a variable number of objects in a complex environment.
Estimator robustness and adaptability are both increased by the use of a clustering algorithm. Measurements used in the tracking process are extracted from a stereovision system, and thus, the 3D position of the tracked objects is obtained at each time step. As a proof of concept, real results are obtained in a long sequence with a mobile robot moving in a cluttered scene.