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This paper presents the results of the authors in thermal vision based mobile   robot control. The most important segment of the high level control loop of   mobile robot platform is an intelligent real-time algorithm for human   detection and tracking. Temperature variations across same objects, air flow   with different temperature gradients, reflections, person overlap while   crossing each other, and many other non-linearities, uncertainty and noise,   put challenges in thermal image processing and therefore the need of   computationally intelligent algorithms for obtaining the efficient   performance from human motion tracking system. The main goal was to enable   mobile robot platform or any technical system to recognize the person in   indoor environment, localize it and track it with accuracy high enough to   allow adequate human-machine interaction. The developed computationally   intelligent algorithms enables robust and reliable human detection and   tracking based on neural network classifier and autoregressive neural network   for time series prediction. Intelligent algorithm used for thermal image   segmentation gives accurate inputs for classification. [Projekat Ministarstva   nauke Republike Srbije, br. TR35005

Thermal vision based intelligent system for human detection and tracking in mobile robot control system