AAAI Publications, 2014 AAAI Fall Symposium Series

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Intention-Aware Multi-Human Tracking for Human-Robot Interaction via Particle Filtering over Sets
Aijun Bai, Reid Simmons, Manuela Veloso, Xiaoping Chen

Last modified: 2014-09-24


In order to successfully interact with multiple humans in social situations, an intelligent robot should have the ability to track multi-humans, and understand their motion intentions. We formalize this problem as a hidden Markov model, and estimate the posterior densities by particle filtering over sets approach. Our approach avoids directly performing observation-to-target association by defining a set as a joint state. The human identification problem is then solved in an expectation-maximization way. We evaluate the effectiveness of our approach by both benchamark test and real robot experiments.


Multi-Human Tracking; Intention Recognition; Human Robot Interaction

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