Human finding and body property estimation by using floor segmentation and 3D labelling

This paper describes a human finding and body property estimation system, which is able to recognize the floor surface and humans from distance information obtained from a stereo camera. The system is comprised of two algorithms; random two point sampling method and, 3D labeling method. The random two point sampling method can detect three-dimensional planer surfaces so as to recognize floor surface from input depth map. The 3D labeling method can recognize humans from dense disparity map by omitting the floor detected in the previous procedure. Finally the system estimate body height from the depth map and uses this to estimate head and leg length from regression formula in an anthology of human body measurement.