Multiple-person tracker with a fixed slanting stereo camera

This work presents a method for tracking multiple persons in a room by a stereo camera. If the ceiling of a building is not high enough, the camera needs to be located at low height. This camera location causes the problem of the significant view changes of the person in the image and each person consecutively occludes the other. We propose a method that projects the 3D variable voxels onto the floor, and tracks their peaks in order to ignore the view changes. The voxels vary along with the distance from the camera, so as not to be influenced by the stereo measurement accuracy. In addition we define repulsive forces between trackers to avoid collisions each other. The experimental results using real images show that our method is effective for the above camera location.