Trajectory Prediction based on Learned Generalized Motion Patterns

Author(s): M. Weser, D. Westhoff, M. Hüser and J. Zhang

in: Proc. of the 2006 Conf. on Multisensor Fusion and Integration for Intelligent Machines (MFI 2006), September 2006

Abstract

A sensor-based model of a service robot's environment is a prerequisite for interaction. Such a model should contain the positions of the robot's interaction partners. Additionally to the actual positions of the partners it is important for the service robot to predict their possible future positions. This knowledge could for example be used to realize efficient path planning for delivery tasks. In this paper we propose an extensible framework for systems, that combine different sensor modalities in a general tracking system. Furthermore, human trajectories are predicted by deducing them from learned motion patterns. Exemplarily, a tracking system is implemented that fuses tracking algorithms in laser range scans as well as in camera images by a particle filter. The observed trajectories are generalized to trajectory patterns by a novel method which uses Self Organizing Maps. Those patterns are used to predict trajectories of the currently observed persons. Practical experiments show that multimodality increases the system's robustness to incorrect measurements of single sensors. It is also demonstrated that a self organizing map is suitable for learning and generalizing trajectories. Convenient predictions of future trajectories are presented which are deduced from these generalizations.

BibTeX


@INPROCEEDINGS{Weser2006b,
  author = {Martin Weser AND Daniel Westhoff AND Markus H"user AND Jianwei Zhang},
  title = {Trajectory Prediction based on Learned Generalized Motion Patterns},
  booktitle = {Proceedings of the 2006 Conference on Multisensor Fusion and Integration	for 
               Intelligent Machines (MFI 2006)},
  year = {2006},
  address = {Heidelberg, Germany},
  month = {September},
  keywords = {People Tracking, Sensor Fusion},
  url = {http://tams-www.informatik.uni-hamburg.de/people/westhoff/publications/index.php?content=mfi06}
}