{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,6]],"date-time":"2025-11-06T12:12:06Z","timestamp":1762431126411,"version":"3.41.0"},"reference-count":39,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2016,1,22]],"date-time":"2016-01-22T00:00:00Z","timestamp":1453420800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2016,1,22]],"date-time":"2016-01-22T00:00:00Z","timestamp":1453420800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/100007763","name":"Engineering Laboratory","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100007763","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2016,7]]},"DOI":"10.1007\/s10846-016-0334-3","type":"journal-article","created":{"date-parts":[[2016,1,22]],"date-time":"2016-01-22T14:47:50Z","timestamp":1453474070000},"page":"85-103","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Performance Evaluation of Human Detection Systems for Robot Safety"],"prefix":"10.1007","volume":"83","author":[{"given":"William","family":"Shackleford","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Geraldine","family":"Cheok","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tsai","family":"Hong","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kamel","family":"Saidi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2667-0750","authenticated-orcid":false,"given":"Michael","family":"Shneier","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2016,1,22]]},"reference":[{"key":"334_CR1","unstructured":"ISO TC 184: ISO 10218-2:2011 Robots and robotic devices \u2013 Safety requirements for industrial robots \u2013 Part 2: Robot systems and integration. In. (2011)"},{"key":"334_CR2","unstructured":"ISO TC 184: ISO 10218-1:2011 Robots and robotic devices \u2013 Safety requirements for industrial robots \u2013 Part 1: Robots. In. (2011)"},{"key":"334_CR3","unstructured":"American National Standards Institute, Robotics Industries Association: ANSI\/RIA R15.06-2012, Industrial Robots and Robot Systems - Safety Requirements. In. (2012)"},{"key":"334_CR4","doi-asserted-by":"crossref","unstructured":"Shneier, M., Hong, T., Cheok, G., Saidi, K., Shackleford, W.: Performance evaluation methods for human detection and tracking systems for robotic applications. In., vol. NISTIR 8045. National Institute of Standards and Technology, Gaithersburg (2015)","DOI":"10.6028\/NIST.IR.8045"},{"key":"334_CR5","unstructured":"Ogale, N.A.: A survey of techniques for human detection from video. University of Maryland (2006)"},{"key":"334_CR6","unstructured":"Ferryman, J., Crowley, J.L.: IEEE International Workshop on Performance Evaluation of Tracking and Surveillance. In: Ferryman, J., Crowley, J.L. (eds.) (2013)"},{"issue":"4","key":"334_CR7","doi-asserted-by":"publisher","first-page":"761","DOI":"10.1109\/TMM.2006.876287","volume":"8","author":"JC Nascimento","year":"2006","unstructured":"Nascimento, J.C., Marques, J.S.: Performance evaluation of object detection algorithms for video surveillance. IEEE Trans. Multimedia 8(4), 761\u2013774 (2006). doi: 10.1109\/TMM.2006.876287","journal-title":"IEEE Trans. Multimedia"},{"key":"334_CR8","volume-title":"Multimodal Technologies for Perception of Humans, First International Evaluation Workshop on Classification of Events, Activities and Relationships, CLEAR 2006. Lecture Notes in Computer Science, vol. 4122","author":"R Stiefelhagen","year":"2007","unstructured":"Stiefelhagen, R., Garofolo, J.: Multimodal Technologies for Perception of Humans, First International Evaluation Workshop on Classification of Events, Activities and Relationships, CLEAR 2006, Lecture Notes in Computer Science, vol. 4122. Springer, Southampton (2007)"},{"key":"334_CR9","unstructured":"Nghiem, A.T., Bremond, F., Thonnat, M., Valentin, V.: ETISEO, performance evaluation for video surveillance systems. In: IEEE Conference on Advanced Video and Signal Based Surveillance, 2007. AVSS 2007, pp. 476\u2013481 (2007)"},{"key":"334_CR10","unstructured":"Home Office Centre for Applied Science and Technology: Imagery Library for Intelligent Detection Systems (i-LIDS): The i-LIDS User Guide. In. (2011)"},{"key":"334_CR11","unstructured":"British Home Office: Imagery Library for Intelligent Detection Systems. https:\/\/www.gov.uk\/imagery-library-for-intelligent-detection-systems (2013). Accessed 30 May 2014"},{"key":"334_CR12","unstructured":"Brown, L.M., Senior, A.W., Tian, Y., Connell, J., Hampapur, A., Shu, C., Merkl, H., Lu, M.: Performance evaluation of surveillance systems under varying conditions. Paper presented at the IEEE international workshop on performance evaluation of tracking and surveillance, Colorado"},{"key":"334_CR13","unstructured":"Yin, F., Makris, D., Velastin, S.: Performance evaluation of object tracking algorithms. Paper presented at the 10th IEEE international workshop on performance evaluation of tracking and surveillance (PETS 2007), Rio de Janeiro"},{"issue":"1","key":"334_CR14","doi-asserted-by":"publisher","first-page":"74","DOI":"10.1016\/j.cviu.2007.07.007","volume":"111","author":"N Lazarevic-McManus","year":"2008","unstructured":"Lazarevic-McManus, N., Renno, J.R., Makris, D., Jones, G.A.: An object-based comparative methodology for motion detection based on the F-Measure. Comput. Vis. Image Underst. 111(1), 74\u201385 (2008). doi: 10.1016\/j.cviu.2007.07.007","journal-title":"Comput. Vis. Image Underst."},{"key":"334_CR15","unstructured":"Bashir, F., Porikli, F.: Performance evaluation of object detection and tracking systems. Paper presented at the 9th IEEE international workshop on performance evaluation of tracking and surveillance (PETS 2006), New York"},{"key":"334_CR16","unstructured":"Black, J., Ellis, T., Rosin, P.: A novel method for video tracking performance evaluation. Paper presented at the joint IEEE international workshop on visual surveillance and performance evaluation of tracking and surveillance, Nice, 2003"},{"key":"334_CR17","doi-asserted-by":"crossref","unstructured":"Davis, J., Goadrich, M.: The relationship between Precision-Recall and ROC curves. Paper presented at the Proceedings of the 23rd international conference on machine learning, Pittsburgh, 2006","DOI":"10.1145\/1143844.1143874"},{"key":"334_CR18","doi-asserted-by":"crossref","unstructured":"Kalal, Z., Matas, J., Mikolajczyk, K.: Online learning of robust object detectors during unstable tracking. In: 2009 IEEE 12th International Conference on Computer Vision Workshops (ICCV Workshops), pp. 1417\u20131424 (2009)","DOI":"10.1109\/ICCVW.2009.5457446"},{"key":"334_CR19","unstructured":"Popoola, J., Amer, A.: Performance evaluation for tracking algorithms using object labels. In: IEEE International Conference on Acoustics, Speech and Signal Processing, 2008. ICASSP 2008, pp. 733\u2013736 (2008)"},{"key":"334_CR20","unstructured":"Bernardin, K., Elbs, A., Stiefelhagen, R.: Multiple object tracking performance metrics and evaluation in a smart room environment. Paper presented at the The 6th IEEE international workshop on visual surveillance, VS 2006, Graz"},{"issue":"2","key":"334_CR21","doi-asserted-by":"publisher","first-page":"90","DOI":"10.1016\/j.cviu.2006.08.002","volume":"104","author":"TB Moeslund","year":"2006","unstructured":"Moeslund, T.B., Hilton, A., Kr\u00fcger, V.: A survey of advances in vision-based human motion capture and analysis. Comput. Vis. Image Underst. 104(2), 90\u2013126 (2006). doi: 10.1016\/j.cviu.2006.08.002","journal-title":"Comput. Vis. Image Underst."},{"key":"334_CR22","doi-asserted-by":"publisher","unstructured":"Baumann, A., Bolz, M., Ebling, J., Koenig, M., Loos, H.S., Merkel, M., Niem, W., KarlWarzelhan, J., Yu, J.: A review and comparison of measures for automatic video surveillance systems. EURASIP Journal on Image and Video Processing 2008 (2008). doi: 10.1155\/2008\/824726","DOI":"10.1155\/2008\/824726"},{"key":"334_CR23","doi-asserted-by":"crossref","unstructured":"Stiefelhagen, R., Bowers, R., Fiscus, J.G.: Multimodal Technologies for Perception of Humans, International Evaluation Workshops CLEAR 2007 and RT 2007, Baltimore, MD, USA, May 8\u201311, 2007, Revised Selected Papers. Lecture Notes in Computer Science. Springer, Berlin Heidelberg (2008)","DOI":"10.1007\/978-3-540-68585-2"},{"key":"334_CR24","doi-asserted-by":"crossref","unstructured":"Bodt, B., Camden, R., Scott, H., Jacoff, A., Hong, T., Chang, T., Norcross, R., Downs, T., Virts, A.: Performance measurements for evaluating static and dynamic multiple human detection and tracking systems in unstructured environments. Paper presented at the Proceedings of the 9th workshop on performance metrics for intelligent systems, Gaithersburg, Maryland, 2009","DOI":"10.1145\/1865909.1865944"},{"key":"334_CR25","doi-asserted-by":"crossref","unstructured":"Godil, A., Bostelman, R., Saidi, K., Shackleford, W., Cheok, G., Shneier, M., Hong, T.: 3D ground-truth systems for object\/human recognition and tracking. In: 2013 IEEE Conference on 2013 Computer Vision and Pattern Recognition Workshops (CVPRW), pp. 719\u2013726. IEEE","DOI":"10.1109\/CVPRW.2013.109"},{"key":"334_CR26","unstructured":"Nikon Corporation: iGPS\/iSpace. http:\/\/www.nikon.com\/products\/instruments\/lineup\/industrial\/metrology_assisted_production\/large_volume\/igps\/index.htm . Accessed 2 June 2014"},{"key":"334_CR27","doi-asserted-by":"crossref","unstructured":"Schmitt, R., Nisch, S., Sch\u00f6nberg, A., Demeester, F., Renders, S.: Performance evaluation of iGPS for industrial applications. In: 2010 International Conference on Indoor Positioning and Indoor Navigation (IPIN), pp. 1\u20138 (2010)","DOI":"10.1109\/IPIN.2010.5647630"},{"issue":"6","key":"334_CR28","doi-asserted-by":"publisher","first-page":"700","DOI":"10.1016\/j.rcim.2012.03.004","volume":"28","author":"G Mosqueira","year":"2012","unstructured":"Mosqueira, G., Apetz, J., Santos, K.M., Villani, E., Suterio, R., Trabasso, L.G.: Analysis of the indoor GPS system as feedback for the robotic alignment of fuselages using laser radar measurements as comparison. Robot. Comput.-Integr. Manuf. 28(6), 700\u2013709 (2012). doi: 10.1016\/j.rcim.2012.03.004","journal-title":"Robot. Comput.-Integr. Manuf."},{"issue":"1\u20134","key":"334_CR29","doi-asserted-by":"publisher","first-page":"205","DOI":"10.1007\/s00170-011-3166-0","volume":"56","author":"Z Wang","year":"2011","unstructured":"Wang, Z., Mastrogiacomo, L., Franceschini, F., Maropoulos, P.G.: Experimental comparison of dynamic tracking performance of iGPS and laser tracker. Int. J. Adv. Manuf. Technol. 56(1\u20134), 205\u2013213 (2011). doi: 10.1007\/s00170-011-3166-0","journal-title":"Int. J. Adv. Manuf. Technol."},{"key":"334_CR30","doi-asserted-by":"crossref","unstructured":"Depenthal, C.: Path tracking with IGPS. In: International Conference on Indoor Positioning and Indoor Navigation (IPIN), pp. 1\u20136 (2010)","DOI":"10.1109\/IPIN.2010.5647501"},{"key":"334_CR31","doi-asserted-by":"crossref","unstructured":"Chambers, D.R., Flannigan, C., Wheeler, B.: High-accuracy real-time pedestrian detection system using 2D and 3D features. SPIE Proceedings Three-Dimensional Imaging, Visualization, and Display, vol. 83840G, pp. 83840G-83841\u201383840G-83811 (2012)","DOI":"10.1117\/12.918406"},{"key":"334_CR32","unstructured":"Dalal, N.: The INRIA Person Dataset. http:\/\/pascal.inrialpes.fr\/data\/human\/ (2005)"},{"key":"334_CR33","doi-asserted-by":"crossref","unstructured":"Papageorgiou, C.P., Oren, M., Poggio, T.: A general framework for object detection. In: 6th International Conference on Computer Vision, pp. 555\u2013562 (1998)","DOI":"10.1109\/ICCV.1998.710772"},{"issue":"5","key":"334_CR34","first-page":"771","volume":"14","author":"Y Freund","year":"1999","unstructured":"Freund, Y., Schapire, R.E.: A short introduction to boosting. Journal of Japanese Society for Artificial Intelligence 14(5), 771\u2013780 (1999)","journal-title":"Journal of Japanese Society for Artificial Intelligence"},{"issue":"3","key":"334_CR35","doi-asserted-by":"publisher","first-page":"273","DOI":"10.1007\/BF00994018","volume":"20","author":"C Cortes","year":"1995","unstructured":"Cortes, C., Vapnik, V.: Support-vector networks. Mach. Learn. 20(3), 273\u2013297 (1995). doi: 10.1007\/BF00994018","journal-title":"Mach. Learn."},{"key":"334_CR36","doi-asserted-by":"crossref","unstructured":"Dalal, N., Triggs, B.: Histograms of oriented gradients for human detection. In: IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR, pp. 886\u2013893 (2005)","DOI":"10.1109\/CVPR.2005.177"},{"key":"334_CR37","unstructured":"Shackleford, W.: Position tracking performance metrics. https:\/\/github.com\/usnistgov\/PTPM (2014)"},{"key":"334_CR38","unstructured":"ISO TC 199: ISO 13855:2010 Safety of machinery \u2013 Positioning of safeguards with respect to the approach speeds of parts of the human body. In: International Organization for Standardization (ed.) (2010)"},{"key":"334_CR39","unstructured":"Bodt, B., Hong, T.: UGV safe operations capstone experiment. Paper presented at the Army science conference, Orlando, 2010"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0334-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-016-0334-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0334-3","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0334-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,1]],"date-time":"2025-06-01T06:25:44Z","timestamp":1748759144000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-016-0334-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,1,22]]},"references-count":39,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2016,7]]}},"alternative-id":["334"],"URL":"https:\/\/doi.org\/10.1007\/s10846-016-0334-3","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2016,1,22]]},"assertion":[{"value":"9 April 2015","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"11 January 2016","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"22 January 2016","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}