PEOPLE TRACKING USING LASER RANGE SCANNERS AND VISION

Andreas Kräußling, Bernd Brüggemann, Dirk Schulz, Armin B. Cremers

2008

Abstract

Tracking multiple crossing people is a great challenge, since common algorithms tend to loose some of the persons or to interchange their identities when they get close to each other and split up again. In several consecutive papers it was possible to develop an algorithm using data from laser range scanners which is able to track an arbitrary number of crossing people without any loss of track. In this paper we address the problem of rediscovering the identities of the persons after a crossing. Therefore, a camera system is applied. An infrared camera detects the people in the observation area and then a charge–coupled device camera is used to extract the colour information about those people. For the representation of the colour information the HSV colour space is applied using a histogram. Before the crossing the system learns the mean and the standard deviation of the colour distribution of each person. After the crossing the system relocates the identities by comparing the actually measured colour distributions with the distributions learnt before the crossing. Thereby, a Gaussian distribution of the colour values is assumed. The most probably assignment of the identities is then found using Munkres’ Hungarian algorithm. It is proven with data from real world experiments that our approach can reassign the identities of the tracked persons stable after a crossing.

Paper Citation

in Harvard Style

Kräußling A., Brüggemann B., Schulz D. and B. Cremers A. (2008). PEOPLE TRACKING USING LASER RANGE SCANNERS AND VISION . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8111-31-9, pages 29-36. DOI: 10.5220/0001482700290036

in Bibtex Style

@conference{icinco08,
author={Andreas Kräußling and Bernd Brüggemann and Dirk Schulz and Armin B. Cremers},
title={PEOPLE TRACKING USING LASER RANGE SCANNERS AND VISION},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2008},
pages={29-36},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001482700290036},
isbn={978-989-8111-31-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - PEOPLE TRACKING USING LASER RANGE SCANNERS AND VISION
SN - 978-989-8111-31-9
AU - Kräußling A.
AU - Brüggemann B.
AU - Schulz D.
AU - B. Cremers A.
PY - 2008
SP - 29
EP - 36
DO - 10.5220/0001482700290036