{"id":"https://openalex.org/W138106456","doi":null,"title":"People tracking by mobile robots using thermal and colour vision","display_name":"People tracking by mobile robots using thermal and colour vision","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W138106456","mag":"138106456"},"language":"en","primary_location":{"id":"pmh:oai:DiVA.org:oru-1111","doi":null,"is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-1111","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I86987016","host_organization_name":"KTH Royal Institute of Technology","host_organization_lineage":["https://openalex.org/I86987016"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/doctoralThesis"},"volume":null,"type":"dissertation","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-1111","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036667542","display_name":"Grzegorz Cielniak","orcid":"https://orcid.org/0000-0002-6299-8465","observed_orcids":["https://orcid.org/0000-0002-6299-8465"]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Grzegorz Cielniak","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0002-6299-8465","affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5036667542"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.0035000001080334187,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.001500000013038516,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/human-tracking","display_name":"human tracking","score":0.7609999775886536},{"id":"https://openalex.org/keywords/mobile-robots","display_name":"mobile robots","score":0.9729999899864197},{"id":"https://openalex.org/keywords/infrared-thermography","display_name":"infrared thermography","score":0.8109999895095825},{"id":"https://openalex.org/keywords/color-vision","display_name":"color vision","score":0.9390000104904175},{"id":"https://openalex.org/keywords/human-silhouette","display_name":"human silhouette","score":0.6909999847412109},{"id":"https://openalex.org/keywords/multiple-person-tracking","display_name":"multiple person tracking","score":0.621999979019165},{"id":"https://openalex.org/keywords/data-association","display_name":"data association","score":0.8640000224113464},{"id":"https://openalex.org/keywords/occlusion-handling","display_name":"occlusion handling","score":0.9190000295639038},{"id":"https://openalex.org/keywords/integral-image","display_name":"integral image","score":0.828000009059906},{"id":"https://openalex.org/keywords/person-re-identification","display_name":"person re-identification","score":0.5960000157356262},{"id":"https://openalex.org/keywords/classifiers","display_name":"machine learning classifiers","score":0.5630000233650208},{"id":"https://openalex.org/keywords/real-time-tracking","display_name":"real-time tracking","score":0.703000009059906},{"id":"https://openalex.org/keywords/indoor-environment","display_name":"indoor environment","score":0.6990000009536743},{"id":"https://openalex.org/keywords/human-robot-interaction","display_name":"human-robot interaction","score":0.7089999914169312},{"id":"https://openalex.org/keywords/human-detection","display_name":"human detection","score":0.47999998927116394},{"id":"https://openalex.org/keywords/performance-indicators","display_name":"performance indicators","score":0.4490000009536743}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7564094066619873},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6432415246963501},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6215232014656067},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5921012759208679},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5836580991744995},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5779078602790833},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37559282779693604},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.07993337512016296},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:DiVA.org:oru-1111","doi":null,"is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-1111","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I86987016","host_organization_name":"KTH Royal Institute of Technology","host_organization_lineage":["https://openalex.org/I86987016"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/doctoralThesis"},{"id":"mag:138106456","doi":null,"is_oa":false,"landing_page_url":"http://oru.diva-portal.org/smash/record.jsf?pid=diva2:134656","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:DiVA.org:oru-1111","doi":null,"is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-1111","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I86987016","host_organization_name":"KTH Royal Institute of Technology","host_organization_lineage":["https://openalex.org/I86987016"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/doctoralThesis"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":90,"referenced_works":["https://openalex.org/W81273923","https://openalex.org/W116412713","https://openalex.org/W280983025","https://openalex.org/W1483307070","https://openalex.org/W1485416717","https://openalex.org/W1497719722","https://openalex.org/W1499578337","https://openalex.org/W1501075844","https://openalex.org/W1506898119","https://openalex.org/W1509114909","https://openalex.org/W1512174012","https://openalex.org/W1513008779","https://openalex.org/W1513768190","https://openalex.org/W1517795220","https://openalex.org/W1534095531","https://openalex.org/W1552698737","https://openalex.org/W1558751150","https://openalex.org/W1578685895","https://openalex.org/W1598640810","https://openalex.org/W1600517698","https://openalex.org/W1601378499","https://openalex.org/W1602149242","https://openalex.org/W1884480140","https://openalex.org/W1902096989","https://openalex.org/W1912392457","https://openalex.org/W1945356021","https://openalex.org/W1968342333","https://openalex.org/W1969294188","https://openalex.org/W1986119156","https://openalex.org/W1988790447","https://openalex.org/W2008785834","https://openalex.org/W2009660638","https://openalex.org/W2020934227","https://openalex.org/W2067807322","https://openalex.org/W2069356045","https://openalex.org/W2072595688","https://openalex.org/W2078298881","https://openalex.org/W2081690495","https://openalex.org/W2095757522","https://openalex.org/W2096590953","https://openalex.org/W2096931991","https://openalex.org/W2098556421","https://openalex.org/W2098613108","https://openalex.org/W2098693229","https://openalex.org/W2098947662","https://openalex.org/W2100804244","https://openalex.org/W2100949146","https://openalex.org/W2104020497","https://openalex.org/W2105238356","https://openalex.org/W2107401725","https://openalex.org/W2110370029","https://openalex.org/W2110874157","https://openalex.org/W2110935301","https://openalex.org/W2117082318","https://openalex.org/W2119643386","https://openalex.org/W2121601095","https://openalex.org/W2121899951","https://openalex.org/W2123098218","https://openalex.org/W2124351082","https://openalex.org/W2126030799","https://openalex.org/W2127923214","https://openalex.org/W2129317335","https://openalex.org/W2130805686","https://openalex.org/W2132103241","https://openalex.org/W2133003524","https://openalex.org/W2133984628","https://openalex.org/W2136405083","https://openalex.org/W2136461127","https://openalex.org/W2140235142","https://openalex.org/W2140487300","https://openalex.org/W2144354855","https://openalex.org/W2146533878","https://openalex.org/W2147953023","https://openalex.org/W2149077040","https://openalex.org/W2152076034","https://openalex.org/W2152164805","https://openalex.org/W2154549428","https://openalex.org/W2156656005","https://openalex.org/W2157822554","https://openalex.org/W2160490642","https://openalex.org/W2161406034","https://openalex.org/W2163272476","https://openalex.org/W2164422663","https://openalex.org/W2164598857","https://openalex.org/W2169033759","https://openalex.org/W2217896605","https://openalex.org/W2535464458","https://openalex.org/W2911295721","https://openalex.org/W2914885528","https://openalex.org/W3187867541"],"related_works":["https://openalex.org/W2008785834","https://openalex.org/W2019037610","https://openalex.org/W221564119","https://openalex.org/W2002737236","https://openalex.org/W6991766714","https://openalex.org/W7097819583","https://openalex.org/W2135833154","https://openalex.org/W2014579394","https://openalex.org/W1512174012","https://openalex.org/W2572336705"],"abstract_inverted_index":{"This":[0,409,438],"thesis":[1,461],"addresses":[2],"the":[3,42,49,58,65,70,96,148,158,161,177,225,233,241,244,251,262,286,315,331,343,351,361,365,384,388,394,436,444,460,468,486,507,515,518],"problem":[4],"of":[5,28,46,67,80,91,122,139,147,163,182,237,243,247,264,337,364,387,425,467,478,485,504,509,517],"people":[6,23,68,74,123,405],"detection":[7,97,136,164,202],"and":[8,21,44,61,82,114,134,137,165,196,235,321,334,431,449,471,499,502,522],"tracking":[9,75,117,121,138,178,216,228,278,297,345],"by":[10,256,412,435],"mobile":[11,30,105],"robots":[12],"in":[13,37,48,124,157,197,240,250,285,456],"indoor":[14],"environments.":[15,39],"A":[16,210,272,288],"system":[17,76,108,217,229,253,346,395,470,487,512,519],"that":[18,32,119,171,260,400,427],"can":[19,188,309],"detect":[20],"recognise":[22],"is":[24,33,52,100,109,130,167,254,291,303,358,380,410,440],"an":[25,257,276,374,397],"essential":[26],"part":[27],"any":[29],"robot":[31],"designed":[34],"to":[35,54,85,132,231,268,313,330,367,382,450],"operate":[36],"populated":[38],"Information":[40],"about":[41],"presence":[43],"location":[45],"persons":[47,140,153,187,221,239,249,426,454],"robot\u2019s":[50],"surroundings":[51],"necessary":[53],"enable":[55],"interaction":[56],"with":[57,392],"human":[59,149],"operator,":[60],"also":[62],"for":[63,214,280,305,422,446],"ensuring":[64],"safety":[66],"near":[69],"robot.":[71,245],"The":[72,89,107,126,227,483],"presented":[73,252,344],"uses":[77,347,396,428],"a":[78,92,104,112,215,298,413,418,457,463,476],"combination":[79],"thermal":[81,93,301,430],"colour":[83,207,352,356,432],"information":[84,349,439],"robustly":[86],"track":[87],"persons.":[88,505],"use":[90],"camera":[94],"simplifies":[95],"problem,":[98],"which":[99],"especially":[101,323],"difficult":[102,312],"on":[103,111,205,224,417,490,514,527],"platform.":[106],"based":[110,204,378,416,526],"fast":[113,131],"efficient":[115,258,375],"samplebased":[116],"method":[118,379,399],"enables":[120],"real-time.":[125],"elliptic":[127],"measurement":[128,362],"model":[129,146,357,363],"calculate":[133],"allows":[135],"under":[141],"different":[142,319,473,491,495,500],"views.":[143],"An":[144,354],"explicit":[145,398],"silhouette":[150],"effectively":[151],"distinguishes":[152],"from":[154,192,350],"other":[155,200,269],"objects":[156],"scene.":[159,226,458],"Moreover":[160,506],"process":[162],"localisation":[166],"performed":[168],"simultaneously":[169],"so":[170],"measurements":[172],"are":[173,222],"incorporated":[174,359,442],"directly":[175],"into":[176,360,443],"framework":[179],"without":[180],"thresholding":[181],"observations.":[183],"With":[184],"this":[185,372],"approach":[186,415],"be":[189,310],"detected":[190],"independently":[191],"current":[193],"light":[194],"conditions":[195],"situations":[198,403,452],"where":[199,324,404,453],"popular":[201],"methods":[203],"skin":[206],"would":[208],"fail.":[209],"very":[211,311],"challenging":[212],"situation":[213],"occurs":[218],"when":[219,294],"multiple":[220,248],"present":[223],"has":[230],"estimate":[232],"number":[234],"position":[236],"all":[238,510],"vicinity":[242],"Tracking":[246],"realised":[255,411],"algorithm":[259],"mitigates":[261],"problems":[263,342],"combinatorial":[265],"explosion":[266],"common":[267],"known":[270],"algorithms.":[271],"sequential":[273],"detector":[274],"initialises":[275],"independent":[277],"filter":[279,290],"each":[281,407],"new":[282,414],"person":[283],"appearing":[284],"image.":[287],"single":[289],"automatically":[292],"deleted":[293],"it":[295,308],"stops":[296],"person.":[299],"While":[300],"vision":[302],"good":[304],"detecting":[306],"people,":[307],"maintain":[314,383],"correct":[316],"association":[317],"between":[318],"observations":[320],"persons,":[322],"they":[325],"occlude":[326,406],"one":[327],"another,":[328],"due":[329],"unpredictable":[332],"appearance":[333],"social":[335],"behaviour":[336,484],"humans.":[338],"To":[339,390],"address":[340],"these":[341,528],"additional":[348],"camera.":[353],"adaptive":[355],"tracker":[366,445],"improve":[368],"data":[369,492],"association.":[370],"For":[371],"purpose":[373],"integral":[376],"image":[377],"used":[381],"real-time":[385],"performance":[386,481,516],"tracker.":[389,437],"deal":[391],"occlusions":[393],"first":[401],"detects":[402],"other.":[408],"machine":[419],"learning":[420],"classifier":[421],"pairwise":[423],"comparison":[424],"both":[429],"features":[433],"provided":[434],"then":[441],"occlusion":[447],"handling":[448],"resolve":[451],"reappear":[455],"Finally":[459],"presents":[462],"comprehensive,":[464],"quantitative":[465],"evaluation":[466],"whole":[469],"its":[472],"components":[474],"using":[475],"set":[477],"well":[479],"defined":[480],"measures.":[482],"was":[488,520],"investigated":[489],"sets":[493],"including":[494],"real":[496],"office":[497],"environments":[498],"appearances":[501],"behaviours":[503],"influence":[508],"important":[511],"parameters":[513],"checked":[521],"their":[523],"values":[524],"optimised":[525],"results.":[529]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2026-08-13T07:04:57.449891","created_date":"2016-06-24T00:00:00"}