Tracking for Following and Passing Persons

Elin A. Topp and Henrik I. Christensen
Centre for Autonomous Systems Royal Institute of Technology, Stockholm, Sweden
Email: {topp,hic}


This paper presents a multiple target tracking approach for following and passing persons in the context of human-robot interaction. The general purpose for the approach is the use in Human Augmented Mapping. This concept is presented and it is described how navigation and person following are subsumed under it. Results from experiments under test conditions and from data collected during a user study are also provided.