{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,19]],"date-time":"2025-10-19T15:41:19Z","timestamp":1760888479479,"version":"build-2065373602"},"reference-count":30,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2010,9,28]],"date-time":"2010-09-28T00:00:00Z","timestamp":1285632000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper presents a novel system capable of solving the problem of tracking multiple targets in a crowded, complex and dynamic indoor environment, like those typical of mobile robot applications. The proposed solution is based on a stereo vision set in the acquisition step and a probabilistic algorithm in the obstacles position estimation process. The system obtains 3D position and speed information related to each object in the robot\u2019s environment; then it achieves a classification between building elements (ceiling, walls, columns and so on) and the rest of items in robot surroundings. All objects in robot surroundings, both dynamic and static, are considered to be obstacles but the structure of the environment itself. A combination of a Bayesian algorithm and a deterministic clustering process is used in order to obtain a multimodal representation of speed and position of detected obstacles. Performance of the final system has been tested against state of the art proposals; test results validate the authors\u2019 proposal. The designed algorithms and procedures provide a solution to those applications where similar multimodal data structures are found.<\/jats:p>","DOI":"10.3390\/s101008865","type":"journal-article","created":{"date-parts":[[2010,9,28]],"date-time":"2010-09-28T11:22:52Z","timestamp":1285672972000},"page":"8865-8887","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":21,"title":["Stereo Vision Tracking of Multiple Objects in Complex Indoor Environments"],"prefix":"10.3390","volume":"10","author":[{"given":"Marta","family":"Marr\u00f3n-Romera","sequence":"first","affiliation":[{"name":"Electronics Department, University of Alcal\u00e1, Campus Universitario s\/n, 28805, Alcal\u00e1 de Henares, Madrid, Spain"}]},{"given":"Juan C.","family":"Garc\u00eda","sequence":"additional","affiliation":[{"name":"Electronics Department, University of Alcal\u00e1, Campus Universitario s\/n, 28805, Alcal\u00e1 de Henares, Madrid, Spain"}]},{"given":"Miguel A.","family":"Sotelo","sequence":"additional","affiliation":[{"name":"Electronics Department, University of Alcal\u00e1, Campus Universitario s\/n, 28805, Alcal\u00e1 de Henares, Madrid, Spain"}]},{"given":"Daniel","family":"Pizarro","sequence":"additional","affiliation":[{"name":"Electronics Department, University of Alcal\u00e1, Campus Universitario s\/n, 28805, Alcal\u00e1 de Henares, Madrid, Spain"}]},{"given":"Manuel","family":"Mazo","sequence":"additional","affiliation":[{"name":"Electronics Department, University of Alcal\u00e1, Campus Universitario s\/n, 28805, Alcal\u00e1 de Henares, Madrid, Spain"}]},{"given":"Jos\u00e9 M.","family":"Ca\u00f1as","sequence":"additional","affiliation":[{"name":"Departamento de Sistemas Telem\u00e1ticos y Computaci\u00f3n, Universidad Rey Juan Carlos, C\/Tulip\u00e1n s\/n, 28933, M\u00f3stoles, Madrid, Spain"}]},{"given":"Cristina","family":"Losada","sequence":"additional","affiliation":[{"name":"Electronics Department, University of Alcal\u00e1, Campus Universitario s\/n, 28805, Alcal\u00e1 de Henares, Madrid, Spain"}]},{"given":"\u00c1lvaro","family":"Marcos","sequence":"additional","affiliation":[{"name":"Electronics Department, University of Alcal\u00e1, Campus Universitario s\/n, 28805, Alcal\u00e1 de Henares, Madrid, Spain"}]}],"member":"1968","published-online":{"date-parts":[[2010,9,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"153","DOI":"10.3390\/a1020153","article-title":"Autonomous vehicles navigation with visual target tracking: Technical approaches","volume":"1","author":"Jia","year":"2008","journal-title":"Algorithms"},{"key":"ref_2","unstructured":"Khan, Z, Balch, T, and Dellaert, F (, January June). 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