{"id":"https://openalex.org/W4364322688","doi":"https://doi.org/10.1109/thms.2023.3247000","title":"Robot-Person Tracking in Uniform Appearance Scenarios: A New Dataset and Challenges","display_name":"Robot-Person Tracking in Uniform Appearance Scenarios: A New Dataset and Challenges","publication_year":2023,"publication_date":"2023-04-10","ids":{"openalex":"https://openalex.org/W4364322688","doi":"https://doi.org/10.1109/thms.2023.3247000"},"language":"en","primary_location":{"id":"doi:10.1109/thms.2023.3247000","is_oa":false,"landing_page_url":"https://doi.org/10.1109/thms.2023.3247000","pdf_url":null,"source":{"id":"https://openalex.org/S2476799526","display_name":"IEEE Transactions on Human-Machine Systems","issn_l":"2168-2291","issn":["2168-2291","2168-2305"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Human-Machine Systems","raw_type":"journal-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/A5101806885","display_name":"Xiaoxiong Zhang","orcid":"https://orcid.org/0000-0003-3971-2745"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":true,"raw_author_name":"Xiaoxiong Zhang","raw_affiliation_strings":["Department of Robotic, Khalifa University of Science and Technology, Abu Dhabi, UAE"],"raw_orcid":"https://orcid.org/0000-0003-3971-2745","affiliations":[{"raw_affiliation_string":"Department of Robotic, Khalifa University of Science and Technology, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073190477","display_name":"Adarsh Ghimire","orcid":"https://orcid.org/0000-0002-9678-8183"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Adarsh Ghimire","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Khalifa University of Science and Technology, Abu Dhabi, UAE"],"raw_orcid":"https://orcid.org/0000-0002-9678-8183","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Khalifa University of Science and Technology, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071515463","display_name":"Sajid Javed","orcid":"https://orcid.org/0000-0002-0036-2875"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Sajid Javed","raw_affiliation_strings":["Department of Computer Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE"],"raw_orcid":"https://orcid.org/0000-0002-0036-2875","affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012053457","display_name":"Jorge Dias","orcid":"https://orcid.org/0000-0002-2725-8867"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Jorge Dias","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, University of Khalifa University of Science and Technology, Abu Dhabi, UAE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of Khalifa University of Science and Technology, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059512412","display_name":"Naoufel Werghi","orcid":"https://orcid.org/0000-0002-5542-448X"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Naoufel Werghi","raw_affiliation_strings":["Department of Computer Science, Khalifa University of Science and Technology, Abu Dhabi, UAE"],"raw_orcid":"https://orcid.org/0000-0002-5542-448X","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Khalifa University of Science and Technology, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101806885"],"corresponding_institution_ids":["https://openalex.org/I176601375"],"apc_list":null,"apc_paid":null,"fwci":1.0597,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.78576649,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"53","issue":"3","first_page":"549","last_page":"559"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":1.0,"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":1.0,"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":0.9922000169754028,"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/T11448","display_name":"Face recognition and analysis","score":0.991100013256073,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7305895686149597},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7234312295913696},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.719588577747345},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6937092542648315},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.6693485975265503},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6690293550491333},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.606346845626831},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6050078272819519},{"id":"https://openalex.org/keywords/bittorrent-tracker","display_name":"BitTorrent tracker","score":0.6004317998886108},{"id":"https://openalex.org/keywords/minimum-bounding-box","display_name":"Minimum bounding box","score":0.4521217942237854},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.44225844740867615},{"id":"https://openalex.org/keywords/eye-tracking","display_name":"Eye tracking","score":0.25605297088623047},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1127467155456543},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.06413602828979492}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7305895686149597},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7234312295913696},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.719588577747345},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6937092542648315},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.6693485975265503},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6690293550491333},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.606346845626831},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6050078272819519},{"id":"https://openalex.org/C57501372","wikidata":"https://www.wikidata.org/wiki/Q2021268","display_name":"BitTorrent tracker","level":3,"score":0.6004317998886108},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.4521217942237854},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.44225844740867615},{"id":"https://openalex.org/C56461940","wikidata":"https://www.wikidata.org/wiki/Q970687","display_name":"Eye tracking","level":2,"score":0.25605297088623047},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1127467155456543},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.06413602828979492},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/thms.2023.3247000","is_oa":false,"landing_page_url":"https://doi.org/10.1109/thms.2023.3247000","pdf_url":null,"source":{"id":"https://openalex.org/S2476799526","display_name":"IEEE Transactions on Human-Machine Systems","issn_l":"2168-2291","issn":["2168-2291","2168-2305"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Human-Machine Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6600000262260437}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2072931689","https://openalex.org/W2156924265","https://openalex.org/W2163309385","https://openalex.org/W2194775991","https://openalex.org/W2400779783","https://openalex.org/W2470394683","https://openalex.org/W2751422254","https://openalex.org/W2787176632","https://openalex.org/W2794744029","https://openalex.org/W2898200825","https://openalex.org/W2948998194","https://openalex.org/W2966759264","https://openalex.org/W2981997809","https://openalex.org/W2991778094","https://openalex.org/W3001584168","https://openalex.org/W3035571898","https://openalex.org/W3127178541","https://openalex.org/W3163168119","https://openalex.org/W3204540098","https://openalex.org/W3210104111","https://openalex.org/W3214586131","https://openalex.org/W4214737929","https://openalex.org/W4214759957","https://openalex.org/W4312543717","https://openalex.org/W4312651496","https://openalex.org/W4385245566"],"related_works":["https://openalex.org/W4237171675","https://openalex.org/W3036286480","https://openalex.org/W4287027631","https://openalex.org/W3192357901","https://openalex.org/W2387360586","https://openalex.org/W2952736415","https://openalex.org/W3209723314","https://openalex.org/W3205398323","https://openalex.org/W2883297582","https://openalex.org/W4390524233"],"abstract_inverted_index":{"Person-tracking":[0],"robots":[1],"have":[2],"many":[3,18],"applications":[4],"including":[5],"security,":[6],"surveillance,":[7],"and":[8,20,72,92,98,116,216,219,241],"autonomous":[9,178],"driving.":[10],"Despite":[11],"the":[12,21,96,99,107,126,138,145,156,168,188,192,202,220,224,244],"abundance":[13],"of":[14,29,68,74,109,171,187,204,251],"uniform":[15,56,174,209],"appearance":[16,57,175,210],"in":[17,37,55,125,207],"contexts":[19],"challenges":[22,132,203],"they":[23],"exhibit,":[24],"there":[25],"is":[26,60,85],"a":[27,45,69,89,113,159,183,196,208,231],"lack":[28],"video":[30],"datasets":[31],"dedicated":[32],"to":[33,144,154,222],"benchmarking":[34],"tracking":[35,54,103,120,206,215],"algorithms":[36],"such":[38,112],"contexts.":[39],"In":[40,227],"this":[41],"article,":[42],"we":[43,152,229],"propose":[44,230],"new":[46,232],"high-quality":[47],"RGB-D":[48,64,104,119,162,233,239],"benchmark":[49,121,163],"called":[50],"PTUA":[51,59,95,193],"for":[52,167,177,212],"robot\u2013person":[53,217],"scenarios.":[58],"recorded":[61],"using":[62],"an":[63],"sensor":[65],"on":[66,173,191,247],"top":[67],"moving":[70],"robot":[71],"consists":[73],"45":[75],"sequences":[76],"containing":[77],"more":[78],"than":[79],"85":[80],"K":[81],"frames.":[82],"Each":[83,128],"frame":[84],"manually":[86],"annotated":[87,115],"with":[88,158,164,195],"bounding":[90],"box":[91],"attributes,":[93],"making":[94],"largest":[97],"most":[100],"challenging":[101,161,249],"person":[102,140,205],"dataset.":[105],"To":[106],"best":[108,245],"our":[110],"knowledge,":[111],"densely":[114],"properly":[117],"synchronized":[118],"does":[122],"not":[123],"exist":[124],"literature.":[127],"sequence":[129],"comprises":[130],"various":[131],"deriving":[133],"from":[134,238],"real-life":[135],"scenarios":[136,176],"where":[137],"target":[139,214],"appears":[141],"highly":[142],"similar":[143],"background":[146],"or":[147],"distractors.":[148],"By":[149],"releasing":[150],"PTUA,":[151],"expect":[153],"provide":[155],"community":[157],"large-scale":[160],"high":[165],"quality":[166],"robust":[169],"evaluation":[170,186],"trackers":[172,190],"robots.":[179],"We":[180],"also":[181],"present":[182],"rigorous":[184],"experimental":[185],"state-of-the-art":[189],"dataset":[194],"comprehensive":[197],"analysis.":[198],"The":[199],"findings":[200],"evidence":[201],"scenario":[211,250],"both":[213],"tracking,":[218],"need":[221],"bridge":[223],"performance":[225,246],"gap.":[226],"addition,":[228],"tracker":[234],"that":[235],"extracts":[236],"features":[237],"frames":[240],"it":[242],"achieves":[243],"each":[248],"PTUA.":[252]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}