People Detection and Tracking with TOF Sensor

This paper presents a method to detect, track and count people which pass a confined space using the latest 3D Time-of-Flight (ToF) sensor technology. A slicing algorithm is employed and a novel method is proposed which derives the slicing level based on the probability density function and histogram respectively. It was found that the algorithm, exploiting the data of one sensor only, works very well for normal situations. However, additional information needs to be made available to the system to solve specials cases, such as wheel chairs, push chairs or very closely spaced people.