Continuous pre-calculation of human tracking with time-delayed ground-truth: A hybrid approach to minimizing tracking latency by combination of different 3D cameras

We present an approach to track a point cloud with a 3D camera system with low latency and/or high frame rate, based on ground truth provided by a second 3D camera system with higher latency and/or lower frame rate. In particular, we employ human tracking based on Kinect cameras and combine it with higher frame-rate/lower latency of Time-of-Flight (ToF) cameras. We present the system setup, methods used and evaluation results showing a very high accuracy in combination with a latency reduction of up to factor 30.