Robust People Tracking Using an Adaptive Sensor Fusion between a Laser Scanner and Video Camera

Author:

Chae Yeong Nam1,Choi Yeong-Jae1,Seo Yong-Ho2ORCID,Yang Hyun S.1

Affiliation:

1. Department of Computer Science, KAIST, 291 Daehak-ro, Yuseong-gu, Daejeon 305-701, Republic of Korea

2. Department of Intelligent Robot Engineering, Mokwon University, 88 Doanbok-ro, Seo-gu, Daejeon, Republic of Korea

Abstract

Robust detection and tracking in a smart environment have numerous valuable applications. In this paper, an adaptive sensor fusion method which automatically compensates for bias between a laser scanner and video camera is proposed for tracking multiple people. The proposed system comprises five components: blob extraction, object tracking, scan data clustering, a cluster selection, and updating the bias. Based on the position of object in an image, the proposed system determines the candidate scan region. Then, the laser scan data in the candidate region of an object is clustered into several clusters. A cluster which has maximum probability as an object is selected using a discriminant function. Finally, a horizontal bias between the laser scanner and video camera is updated based on the selected cluster information. To evaluate the performance of the proposed system, we show error analysis and two applications. The results confirm that the proposed system can be used for a real-time tracking system and interactive virtual environment.

Funder

National Research Foundation of Korea

Publisher

SAGE Publications

Subject

Computer Networks and Communications,General Engineering

Cited by 2 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Continuously tracking of moving object by a combination of ultra-high frequency radio-frequency identification and laser range finder;International Journal of Distributed Sensor Networks;2019-07

2. Multimedia Data Fusion;Mathematical Problems in Engineering;2013

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