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Related Experiment Video

Updated: Dec 29, 2025

A Methodology for Capturing Joint Visual Attention Using Mobile Eye-Trackers

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Published on: January 18, 2020

A Multi-Modal Person Perception Framework for Socially Interactive Mobile Service Robots.

Steffen Müller¹, Tim Wengefeld¹, Thanh Quang Trinh¹

¹Neuroinformatics and Cognitive Robotics Lab of Technische Universität Ilmenau, 98684 Ilmenau, Germany.

Sensors (Basel, Switzerland)

|February 5, 2020

Summary

This study presents a novel perception system for mobile robots, enhancing human tracking using multi-sensor fusion and appearance-based re-identification. The system ensures stable user tracking in complex environments, improving human-robot interaction.

Keywords:

multi modal person tracking sensor fusion user centered robot navigation

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Area of Science:

Robotics
Computer Vision
Artificial Intelligence

Background:

Mobile service robots require robust perception for real-world human interaction.
Multi-sensor fusion and human re-identification are critical research areas.

Purpose of the Study:

To develop a modular detection and tracking system for mobile robots.
To enhance person re-identification during tracking interruptions using appearance features.

Main Methods:

A probability-based data association method incorporating position, face, and color features.
Integration of state-of-the-art image-based detection systems for recognition, identification, and attribute estimation.
Development of a new measure for tracking consistency.

Main Results:

Stable estimation of a mobile robot's user in cluttered environments with occlusions.
Demonstrated improvements in tracking consistency by combining face and appearance-based re-identification.
Successful application in a real-world rehabilitation assistant robot scenario.

Conclusions:

The proposed system enables reliable human tracking for user-centered robot navigation.
The system facilitates socially acceptable navigation in public spaces.
Enhanced re-identification capabilities improve robot interaction robustness.