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Modeling motion patterns of dynamic objectsby IOHMM
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Chemical Science and Engineering (CHE). (CVAP/CAS/CSC)ORCID iD: 0000-0002-1170-7162
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. (CAS/CVAP/CSC)ORCID iD: 0000-0002-7796-1438
2014 (English)In: Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, Chicago, IL: IEEE conference proceedings, 2014, 1832-1838 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a novel approach to model motion patterns of dynamic objects, such as people and vehicles, in the environment with the occupancy grid map representation. Corresponding to the ever-changing nature of the motion pattern of dynamic objects, we model each occupancy grid cell by an IOHMM, which is an inhomogeneous variant of the HMM. This distinguishes our work from existing methods which use the conventional HMM, assuming motion evolving according to a stationary process. By introducing observations of neighbor cells in the previous time step as input of IOHMM, the transition probabilities in our model are dependent on the occurrence of events in the cell's neighborhood. This enables our method to model the spatial correlation of dynamics across cells. A sequence processing example is used to illustrate the advantage of our model over conventional HMM based methods. Results from the experiments in an office corridor environment demonstrate that our method is capable of capturing dynamics of such human living environments.

Place, publisher, year, edition, pages
Chicago, IL: IEEE conference proceedings, 2014. 1832-1838 p.
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-156600DOI: 10.1109/IROS.2014.6942803ISI: 000349834601138Scopus ID: 2-s2.0-84911490790OAI: oai:DiVA.org:kth-156600DiVA: diva2:767273
Conference
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014),14-18 Sept. 2014, Chicago, IL
Projects
STrands
Funder
EU, FP7, Seventh Framework Programme
Note

QC 20141205

Available from: 2014-12-01 Created: 2014-12-01 Last updated: 2016-12-01Bibliographically approved

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Jensfelt, PatricFolkesson, John

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CiteExportLink to record
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Citation style
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