Color-based object tracking to improve mobile robot navigation

Keskinpala, T
Koku, Ahmet Buğra
Keskinpala, HK
Recognition and tracking of certain objects of interest is an important aspect that a robotic system has to have for a variety of reasons. One use of tracking is introduced with behavior-based robotics where certain objects, or object distributions are used as triggers for different behaviors. Landmark based navigation is yet another example. Although it is possible to execute tracking by using different sensors, vision is mostly preferred. In this paper, a color-based object tracking system is introduced.


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Gedik, Osman Serdar; Alatan, Abdullah Aydın; Department of Electrical and Electronics Engineering (2014)
3D tracking of objects is essential in many applications, such as robotics and aug- mented reality (AR), and availability of accurate pose estimates increases reliability in robotic applications whereas decreases jitter in AR scenarios. As a result of the recent advances in the sensor technology, it is possible to capture synchronous high frame rate RGB and depth data. With this motivation, an automated and high accurate 3D tracking algorithm based on simultaneous utilization of visual and depth sensors is ...
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Beyan, Cigdem; Temizel, Alptekin (2011-04-28)
Separate tracking of objects such as people and the luggages they carry is important for video surveillance applications as it would allow making higher level inferences and timely detection of potential threats. However, this is a challenging problem and in the literature, people and objects they carry are tracked as a single object. In this study, we propose using thermal imagery in addition to the visible band imagery for tracking in indoor applications (such as airports, metro or railway stations). We u...
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In this paper, primary steps of a visual surveillance system are presented: moving object detection and tracking of these moving objects. Running average method has been used to detect the moving objects in the video, which is taken from a static camera. Tracking of foreground objects has been realized by using a Kalman filter. After background subtraction, morphological operators are used to remove noises detected as foreground. Active contour models (snakes) are the segmentation tools for the extracted fo...
Tracking in WiMAX Networks Using Cell-IDs
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There is some skepticism regarding the practical implementation of a tracking system that depends on cell identification (Cell-ID) information. This pessimism is due to the fact that tracking systems are known to require high positioning accuracy, while Cell-ID positioning is known as being "low accuracy" positing technique. However, using the Cell-IDs in a different way (a novel approach) than in current positioning will allow the implementation of a tracking system capable of providing sufficient position...
Citation Formats
T. Keskinpala, A. B. Koku, and H. Keskinpala, “Color-based object tracking to improve mobile robot navigation,” 2002, Accessed: 00, 2020. [Online]. Available: