1A2-G18 Three-Dimensional human tracking with distributed cameras and laser range sensors
Koki Morikawa, Kazuyuki Morioka · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2010
This paper proposes a human tracking system with a single camera and laser range scanners distributed in an intelligent space. The proposed system achieves three-dimensional tracking that handles vertical movement of human in addition to two-dimensional tracking with a laser range sensor. In the proposed system, particle filter is applied to integrate measurement results from a camera and laser range sensors. Likelihood of each particle in an image plane is calculated according to color histogram and three-dimensional information converted from camera parameters and two-dimensional position measured by laser range sensors.