Toro: tracking and observing robot

Details Toro: tracking and observing robot Toro: tracking and observing robot

2008-10-10

2011-12-13

Azarian, Seyed (Department: 2624)

Image analysis

Applications

Target tracking or detecting

C382S291000, C702S188000

Reexamination Certificate

active

08077919

ABSTRACT:
The present invention provides a method for tracking entities, such as people, in an environment over long time periods. A region-based model is generated to model beliefs about entity locations. Each region corresponds to a discrete area representing a location where an entity is likely to be found. Each region includes one or more positions which more precisely specify the location of an entity within the region so that the region defines a probability distribution of the entity residing at different positions within the region. A region-based particle filtering method is applied to entities within the regions so that the probability distribution of each region is updated to indicate the likelihood of the entity residing in a particular region as the entity moves.

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Montemerlo, M., et al., “A Factored Solution to the Simultaneous Localization and Mapping Problem,” Proceedings of the AAAI National Conference on Artificial Intelligence, 2002, pp. 593-598.

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