1A1-D09 室内におけるカメラとレーザレンジファインダの統合による複数人物追跡

概要

論文の詳細を見る
Successful multi-target tracking requires locating the targets and labeling their identities. For the tracking systems, the latter is more challenging. In this paper, we propose a method for multiple persons tracking using multiple cameras and laser range finders. Our method estimates 3D positions of human body and head, and labels their identities. The method is composed of multiple particle filters, and each particle filter tracks each person correctly by integrating information from laser range finders and the target-specific information from multiple cameras. Integration of these two types of sensors enables complement of each weak point and the correct tracking of the target. Moreover, we develop a new particle filter framework that tracks the human head by using the estimated human body position simultaneously. Our experimental results demonstrate the effectiveness and robustness of the method in multiple persons tracking.
一般社団法人日本機械学会の論文
2009-05-25