关键词: 移动机器人, 多目标跟踪, 条件随机场, 目标检测, 信息融合

Abstract:

According to the characteristics of multi-object tracking of mobile robots,a hybrid conditional random field（HCRF） model,which consists of three layers including the motion detection layer,the data association layer and the state estimation layer,is proposed.As a kind of discriminative model that allows nonlocal dependencies between the state and the observation data,the proposed model can not only utilize local motion information and shape information to improve the accuracy of data association according to the motion information and the local shape information of the object,but also integrate object tracking and moving object detection according to the observation data obtained in multiple time steps.Experimental results of the multi-object tracking of the self-developed mobile robot show that the tracking based on the proposed HCRF model is more accurate and stable than that of the JPDAF method based on the generative model.

Key words: mobile robot multi-object tracking, conditional random fieldobject detection, information fusion