Event
MS Thesis Defense: John Welsh
Friday, April 14, 2017
3:00 p.m.
2103 AVW
Maria Hoo
301 405 3681
mch@umd.edu
ANNOUNCEMENT: MS Thesis Defense
Name: John Welsh
Committee:
Professor Gilmer Blankenship, Chair
Professor Rama Chellappa
Professor Romel Gomez
Date/Time: Friday, April 14, 2017 at 3:00pm
Place: AVW2103
Title: Pose Based Human Identification and Tracking with a Single Camera for Robot Person Following
Abstract: In this work we address the challenge of following a person with a mobile robot, with a focus on the image processing aspect. We overview different historical approaches for person following and outline the advantages and disadvantages of each. We then show that recent convolutional neural networks trained for human pose detection are suitable for person detection as it relates to the robot following
problem. We extend one such pose detection network to spatially embed the identity of individuals in the image, utilizing the pose features already computed. The proposed identity embedding allows the system to robustly track individuals in consecutive frames even in long term occlusion or absence. The final system provides a robust person tracking scheme which is suitable for person following.