Abstract
Target tracking is one of the important functions for autonomous mobile robots. In the environments where a target-tracking system is used, there may be many people and objects. When the system is applied in such environments, occlusion is a challenge for achieving target tracking. In this paper, an occlusion handling method for target tracking with a mobile robot is proposed. By using a stereo camera, both color and location information is used for target detection. During target tracking, the state of occlusion is determined. According to the state, an appropriate tracking process is applied. The effectiveness of the proposed method is verified through target-tracking experiments. In the experiments, the proposed system is compared with the target-tracking system without the occlusion handling method.
