TY  - JOUR
A1  - Mandischer, Nils
A1  - Hou, Ruikun
A1  - Corves, Burkhard
T1  - Multiposture leg tracking for temporarily vision restricted environments based on fusion of laser and radar sensor data
T2  - Journal of Field Robotics
N2  - Leg tracking is an established field in mobile robotics and machine vision in general. These algorithms, however, only distinguish the scene between leg and nonleg detections. In application fields like firefighting, where people tend to choose squatting or crouching over standing postures, those methods will inevitably fail. Further, tracking based on a single sensor system may reduce the overall reliability if brought to outdoor or complex environments with limited vision on the target objectives. Therefore, we extend our recent work to a multiposture detection system based on laser and radar sensors, that are fused to allow for maximal reliability and accuracy in scenarios as complex as indoor firefighting with vastly limited vision. The proposed tracking pipeline is trained and extensively validated on a new data set. We show that the radar tracker reaches state-of-the-art performance, and that laser and fusion tracker outperform recent methods.
Y1  - 2023
UR  - https://opus.bibliothek.uni-augsburg.de/opus4/frontdoor/index/index/docId/117868
UR  - https://nbn-resolving.org/urn:nbn:de:bvb:384-opus4-1178687
SN  - 1556-4959
SN  - 1556-4967
VL  - 40
IS  - 6
SP  - 1620
EP  - 1638
PB  - Wiley
CY  - Weinheim
ER  -