{"id":"https://openalex.org/W2999212432","doi":"https://doi.org/10.1109/ro-man46459.2019.8956443","title":"A Multi Modal People Tracker for Real Time Human Robot Interaction","display_name":"A Multi Modal People Tracker for Real Time Human Robot Interaction","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2999212432","doi":"https://doi.org/10.1109/ro-man46459.2019.8956443","mag":"2999212432"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man46459.2019.8956443","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man46459.2019.8956443","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036688169","display_name":"Tim Wengefeld","orcid":null},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Tim Wengefeld","raw_affiliation_strings":["Technische Universitaet Ilmenau,Neuroinformatics and Cognitive Robotics Lab,Ilmenau,Germany,98694","Neuroinformatics and Cognitive Robotics Lab, Technische Universitaet Ilmenau, Ilmenau, Germany"],"affiliations":[{"raw_affiliation_string":"Technische Universitaet Ilmenau,Neuroinformatics and Cognitive Robotics Lab,Ilmenau,Germany,98694","institution_ids":["https://openalex.org/I119449181"]},{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Lab, Technische Universitaet Ilmenau, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104077201","display_name":"Steffen M\u00fcller","orcid":null},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Steffen M\u00fcller","raw_affiliation_strings":["Technische Universitaet Ilmenau,Neuroinformatics and Cognitive Robotics Lab,Ilmenau,Germany,98694","Neuroinformatics and Cognitive Robotics Lab, Technische Universitaet Ilmenau, Ilmenau, Germany"],"affiliations":[{"raw_affiliation_string":"Technische Universitaet Ilmenau,Neuroinformatics and Cognitive Robotics Lab,Ilmenau,Germany,98694","institution_ids":["https://openalex.org/I119449181"]},{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Lab, Technische Universitaet Ilmenau, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079049282","display_name":"Benjamin Lewandowski","orcid":null},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Benjamin Lewandowski","raw_affiliation_strings":["Technische Universitaet Ilmenau,Neuroinformatics and Cognitive Robotics Lab,Ilmenau,Germany,98694","Neuroinformatics and Cognitive Robotics Lab, Technische Universitaet Ilmenau, Ilmenau, Germany"],"affiliations":[{"raw_affiliation_string":"Technische Universitaet Ilmenau,Neuroinformatics and Cognitive Robotics Lab,Ilmenau,Germany,98694","institution_ids":["https://openalex.org/I119449181"]},{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Lab, Technische Universitaet Ilmenau, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075114390","display_name":"Horst\u2013Michael Gro\u00df","orcid":"https://orcid.org/0000-0001-9712-0225"},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Horst-Michael Gross","raw_affiliation_strings":["Technische Universitaet Ilmenau,Neuroinformatics and Cognitive Robotics Lab,Ilmenau,Germany,98694","Neuroinformatics and Cognitive Robotics Lab, Technische Universitaet Ilmenau, Ilmenau, Germany"],"affiliations":[{"raw_affiliation_string":"Technische Universitaet Ilmenau,Neuroinformatics and Cognitive Robotics Lab,Ilmenau,Germany,98694","institution_ids":["https://openalex.org/I119449181"]},{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Lab, Technische Universitaet Ilmenau, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5036688169"],"corresponding_institution_ids":["https://openalex.org/I119449181"],"apc_list":null,"apc_paid":null,"fwci":0.511,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.70668753,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9984999895095825,"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/T12222","display_name":"IoT-based Smart Home Systems","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7635914087295532},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6999284625053406},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6576281785964966},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.608640193939209},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.5513430237770081},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.5467662811279297},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5444681644439697},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5349506139755249},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5238885283470154},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.5025203227996826},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4481351971626282},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.44428855180740356},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.43073374032974243},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.36160534620285034},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.1952584683895111},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.16978517174720764},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12668997049331665}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7635914087295532},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6999284625053406},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6576281785964966},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.608640193939209},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.5513430237770081},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.5467662811279297},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5444681644439697},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5349506139755249},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5238885283470154},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.5025203227996826},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4481351971626282},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.44428855180740356},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.43073374032974243},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.36160534620285034},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.1952584683895111},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.16978517174720764},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12668997049331665},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ro-man46459.2019.8956443","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man46459.2019.8956443","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W861352110","https://openalex.org/W1574719918","https://openalex.org/W2026301348","https://openalex.org/W2032729564","https://openalex.org/W2034065342","https://openalex.org/W2044339004","https://openalex.org/W2055990018","https://openalex.org/W2066832919","https://openalex.org/W2077513643","https://openalex.org/W2104584763","https://openalex.org/W2111957821","https://openalex.org/W2150298366","https://openalex.org/W2156924265","https://openalex.org/W2168356304","https://openalex.org/W2216954285","https://openalex.org/W2295615964","https://openalex.org/W2411443472","https://openalex.org/W2559085405","https://openalex.org/W2739384622","https://openalex.org/W2763553648","https://openalex.org/W2796347433","https://openalex.org/W2969125763","https://openalex.org/W3149553225","https://openalex.org/W4293584584","https://openalex.org/W6623841700","https://openalex.org/W6676555056","https://openalex.org/W6697005757","https://openalex.org/W6750227808","https://openalex.org/W6894251830"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W2280422768","https://openalex.org/W3143197806","https://openalex.org/W4252555497","https://openalex.org/W4321353415","https://openalex.org/W2745001401","https://openalex.org/W3121175838","https://openalex.org/W3016293053","https://openalex.org/W4390721878","https://openalex.org/W2408440673"],"abstract_inverted_index":{"Tracking":[0],"people":[1,66],"in":[2,164],"the":[3,26,47,70,79,140,143],"surroundings":[4],"of":[5,12,50,65,102,108,118,142],"interactive":[6],"service":[7],"robots":[8],"is":[9,37,133],"a":[10,31,54,61,87,91,99,127,148,160,165],"topic":[11],"high":[13,114],"interest.":[14],"Even":[15],"if":[16],"image":[17],"based":[18],"detectors":[19,76,121],"using":[20],"deep":[21],"learning":[22],"techniques":[23],"have":[24],"improved":[25],"detection":[27,116],"rate":[28],"and":[29,45,67,77,98],"accuracy":[30],"lot,":[32],"for":[33,95,154],"robotic":[34],"applications":[35],"it":[36],"necessary":[38],"to":[39,135],"integrate":[40],"those":[41],"detections":[42],"over":[43,46],"time":[44],"limited":[48],"ranges":[49],"individual":[51,75,103],"sensors":[52],"into":[53],"global":[55],"model.":[56,129],"That":[57],"data":[58,96],"fusion":[59],"enables":[60],"continuous":[62],"state":[63,141],"estimation":[64],"helps":[68],"reducing":[69],"false":[71,115],"decisions":[72],"taken":[73],"by":[74],"increasing":[78],"overall":[80],"range.":[81],"In":[82],"this":[83],"paper,":[84],"we":[85,110,146],"present":[86,147],"tracking":[88,137,158],"framework":[89],"with":[90,113],"new":[92],"distance":[93],"measure":[94],"association":[97],"proper":[100],"consideration":[101],"sensors'":[104],"accuracies.":[105],"By":[106],"means":[107],"that,":[109],"could":[111],"deal":[112],"rates":[117],"laser-based":[119],"leg":[120],"without":[122],"introducing":[123],"further":[124],"heuristics":[125],"like":[126],"background":[128],"The":[130],"proposed":[131],"system":[132],"compared":[134],"other":[136],"approaches":[138],"from":[139,159],"art.":[144],"Furthermore,":[145],"novel":[149],"manually":[150],"annotated":[151],"benchmark":[152],"dataset":[153],"multi":[155],"sensor":[156],"person":[157],"moving":[161],"robot":[162],"platform":[163],"guide":[166],"scenario,":[167],"which":[168],"will":[169],"be":[170],"made":[171],"publicly":[172],"available.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":4}],"updated_date":"2026-03-26T15:22:09.906841","created_date":"2025-10-10T00:00:00"}