{"id":"https://openalex.org/W2675830001","doi":"https://doi.org/10.1109/iros.2017.8206274","title":"Tracking a varying number of people with a visually-controlled robotic head","display_name":"Tracking a varying number of people with a visually-controlled robotic head","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2675830001","doi":"https://doi.org/10.1109/iros.2017.8206274","mag":"2675830001"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206274","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206274","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://inria.hal.science/hal-01542987","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011762462","display_name":"Yutong Ban","orcid":"https://orcid.org/0000-0001-5396-9251"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Yutong Ban","raw_affiliation_strings":["INRIA Grenoble Rh\u00f4ne-Alpes, France","PERCEPTION - Interpretation and Modelling of Images and Videos (INRIA Rh\u00f4ne-Alpes 655 avenue de l'Europe 38330 Montbonnot, France - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Grenoble Rh\u00f4ne-Alpes, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"PERCEPTION - Interpretation and Modelling of Images and Videos (INRIA Rh\u00f4ne-Alpes 655 avenue de l'Europe 38330 Montbonnot, France - France)","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066621495","display_name":"Xavier Alameda-Pineda","orcid":"https://orcid.org/0000-0002-5354-1084"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Xavier Alameda-Pineda","raw_affiliation_strings":["INRIA Grenoble Rh\u00f4ne-Alpes, France","PERCEPTION - Interpretation and Modelling of Images and Videos (INRIA Rh\u00f4ne-Alpes 655 avenue de l'Europe 38330 Montbonnot, France - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Grenoble Rh\u00f4ne-Alpes, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"PERCEPTION - Interpretation and Modelling of Images and Videos (INRIA Rh\u00f4ne-Alpes 655 avenue de l'Europe 38330 Montbonnot, France - France)","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043251618","display_name":"Fabien Badeig","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Fabien Badeig","raw_affiliation_strings":["INRIA Grenoble Rh\u00f4ne-Alpes, France","PERCEPTION - Interpretation and Modelling of Images and Videos (INRIA Rh\u00f4ne-Alpes 655 avenue de l'Europe 38330 Montbonnot, France - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Grenoble Rh\u00f4ne-Alpes, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"PERCEPTION - Interpretation and Modelling of Images and Videos (INRIA Rh\u00f4ne-Alpes 655 avenue de l'Europe 38330 Montbonnot, France - France)","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037326211","display_name":"Sil\u00e8ye Ba","orcid":"https://orcid.org/0000-0003-4581-9880"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Sileye Ba","raw_affiliation_strings":["INRIA Grenoble Rh\u00f4ne-Alpes, France","VideoStitch, Paris, France","PERCEPTION - Interpretation and Modelling of Images and Videos (INRIA Rh\u00f4ne-Alpes 655 avenue de l'Europe 38330 Montbonnot, France - France)","VideoStitch (15 Place de la Nation - 75011 PARIS - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Grenoble Rh\u00f4ne-Alpes, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"VideoStitch, Paris, France","institution_ids":[]},{"raw_affiliation_string":"PERCEPTION - Interpretation and Modelling of Images and Videos (INRIA Rh\u00f4ne-Alpes 655 avenue de l'Europe 38330 Montbonnot, France - France)","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I1326498283"]},{"raw_affiliation_string":"VideoStitch (15 Place de la Nation - 75011 PARIS - France)","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078307335","display_name":"Radu Horaud","orcid":"https://orcid.org/0000-0001-5232-024X"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Radu Horaud","raw_affiliation_strings":["INRIA Grenoble Rh\u00f4ne-Alpes, France","PERCEPTION - Interpretation and Modelling of Images and Videos (INRIA Rh\u00f4ne-Alpes 655 avenue de l'Europe 38330 Montbonnot, France - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Grenoble Rh\u00f4ne-Alpes, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"PERCEPTION - Interpretation and Modelling of Images and Videos (INRIA Rh\u00f4ne-Alpes 655 avenue de l'Europe 38330 Montbonnot, France - France)","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I1326498283"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8313,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.82384983,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4144","last_page":"4151"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9998999834060669,"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":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9994000196456909,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9955000281333923,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.8868532180786133},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7774513959884644},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.748281717300415},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7159246206283569},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.7030650973320007},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5548678636550903},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5466431379318237},{"id":"https://openalex.org/keywords/field-of-view","display_name":"Field of view","score":0.5116243958473206},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.44736433029174805},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1623818278312683}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.8868532180786133},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7774513959884644},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.748281717300415},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7159246206283569},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.7030650973320007},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5548678636550903},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5466431379318237},{"id":"https://openalex.org/C150627866","wikidata":"https://www.wikidata.org/wiki/Q1076893","display_name":"Field of view","level":2,"score":0.5116243958473206},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.44736433029174805},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1623818278312683},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2017.8206274","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206274","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01542987v2","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-01542987","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"http://www.iros2017.org/","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01542987v2","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-01542987","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"http://www.iros2017.org/","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W202219663","https://openalex.org/W575122527","https://openalex.org/W1481615754","https://openalex.org/W1531192956","https://openalex.org/W1965863379","https://openalex.org/W1991412064","https://openalex.org/W2000825879","https://openalex.org/W2008260944","https://openalex.org/W2009727770","https://openalex.org/W2023385902","https://openalex.org/W2042991669","https://openalex.org/W2077765274","https://openalex.org/W2082114066","https://openalex.org/W2100249329","https://openalex.org/W2124211486","https://openalex.org/W2138168748","https://openalex.org/W2141185464","https://openalex.org/W2152669093","https://openalex.org/W2153592003","https://openalex.org/W2159758690","https://openalex.org/W2161505441","https://openalex.org/W2167501464","https://openalex.org/W2167868656","https://openalex.org/W2416156489","https://openalex.org/W2486538520","https://openalex.org/W2510977782","https://openalex.org/W2520234541","https://openalex.org/W6608230807","https://openalex.org/W6628861149","https://openalex.org/W6650910883","https://openalex.org/W6679214204"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W2386520554","https://openalex.org/W1520171478","https://openalex.org/W4317830657","https://openalex.org/W3024380338","https://openalex.org/W2127866683","https://openalex.org/W2065095941","https://openalex.org/W110066474"],"abstract_inverted_index":{"Multi-person":[0],"tracking":[1,69,151],"with":[2],"a":[3,21,47,53,94,106,128],"robotic":[4],"platform":[5],"is":[6,30],"one":[7],"of":[8,11,24,56,67,97,102,121,146],"the":[9,27,33,68,74,90,100,115,119,140,144],"cornerstones":[10],"human-robot":[12],"interaction.":[13],"Challenges":[14],"arise":[15],"from":[16],"occlusions,":[17],"appearance":[18],"changes":[19],"and":[20,39,60,70,86],"time-varying":[22,54],"number":[23,55],"people.":[25],"Furthermore,":[26],"final":[28],"system":[29,75],"constrained":[31],"by":[32],"hardware":[34],"platform:":[35],"low":[36],"computational":[37],"capacity":[38],"limited":[40],"field-of-view.":[41],"In":[42],"this":[43,125],"paper,":[44],"we":[45],"propose":[46,105],"novel":[48],"method":[49],"to":[50,92,112,127],"simultaneously":[51],"track":[52,78],"persons":[57,80],"in":[58],"three-dimensions":[59],"perform":[61],"visual":[62,71,148],"servoing.":[63],"The":[64,137],"complementary":[65],"nature":[66],"servoing":[72,149],"enables":[73],"to:":[76],"(i)":[77],"several":[79],"while":[81],"compensating":[82],"for":[83,150],"large":[84],"ego-movements":[85],"(ii)":[87],"visually":[88],"control":[89],"robot":[91],"keep":[93],"selected":[95],"person":[96],"interest":[98],"within":[99],"field":[101],"view.":[103],"We":[104],"variational":[107],"Bayesian":[108],"formulation":[109],"allowing":[110],"us":[111],"effectively":[113],"solve":[114],"inference":[116],"problem":[117],"through":[118],"use":[120],"closed-form":[122],"solutions.":[123],"Importantly,":[124],"leads":[126],"computationally":[129],"efficient":[130],"procedure":[131],"that":[132],"runs":[133],"at":[134],"10":[135],"FPS.":[136],"experiments":[138],"on":[139],"NAO-MPVS":[141],"dataset":[142],"confirm":[143],"importance":[145],"using":[147],"multiple":[152],"persons.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
