People tracking with multiple laser range sensors

Hiroshi Nishimura; Masafumi Hashimoto; Yosuke Matsui; Kazuhiko Takahashi

doi:10.1117/12.784374

9 January 2008 People tracking with multiple laser range sensors

Hiroshi Nishimura, Masafumi Hashimoto, Yosuke Matsui, Kazuhiko Takahashi

Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 679410 (2008) https://doi.org/10.1117/12.784374
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan

Abstract

This paper presents a decentralized method for people tracking with multiple 2D laser range sensors (LRSs) allocated in environments. Moving people which are detected from laser images with the LRSs are tracked based on Kalman filter, the assignment algorithm and Covariance Intersection method. A rule based on track management system is embedded into the tracking system in order to improve the tracking performance. The experimental results of people tracking validate this proposed method.

Citation Download Citation

Hiroshi Nishimura, Masafumi Hashimoto, Yosuke Matsui, and Kazuhiko Takahashi "People tracking with multiple laser range sensors", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 679410 (9 January 2008); https://doi.org/10.1117/12.784374

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