Tracking multiple people using laser and vision

Author

Cui, Jinshi ; Zha, Hongbin ; Zhao, Huijing ; Shibasaki, Ryosuke

Author_Institution

National Lab. on Machine Perception, Peking Univ., Beijing, China

fYear

2005

fDate

2-6 Aug. 2005

Firstpage

2116

Lastpage

2121

Abstract

We present a novel system that aims at reliably detecting and tracking multiple people in an open area. Multiple single-row laser scanners and one video camera are utilized. Feet trajectory tracking based on registration of distance information from multiple laser scanners and visual body region tracking based on color histogram are combined in a Bayesian formulation. Results from tests in a real environment are reported to demonstrate that the system can detect and track multiple people simultaneously with reliable and real-time performance.

Keywords

Bayes methods; computer vision; image colour analysis; image registration; optical tracking; real-time systems; sensor fusion; target tracking; video cameras; Bayesian formulation; color histogram; distance information registration; feet trajectory tracking; multiple people tracking; multiple single-row laser scanners; sensor fusion; video camera; visual body region tracking; Cameras; Data mining; Face detection; Humans; Laboratories; Laser theory; Layout; Object detection; Surveillance; Trajectory; Laser scanner; Multiple people; Sensor fusion; Tracking; Video camera;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8912-3

Type

conf

DOI

10.1109/IROS.2005.1545159

Filename

1545159