A novel system for tracking pedestrians using multiple single-row laser-range scanners
A novel system for tracking pedestrians using multiple single-row laser-range scanners
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DOI：
10.1109/tsmca.2005.843396
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发表时间：
2005-03-01
影响因子：
--
通讯作者：
Shibasaki, R
中科院分区：
文献类型：
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作者：
Zhao, HJ;Shibasaki, R
在本研究中，我们提出了一种新颖的系统，用于跟踪宽阔开放区域的行人，如购物邮件和展览馆，使用多个单排激光距离扫描仪（LD-A），其轮廓率为10 Hz，扫描角度为270度。将LD-As直接设置在地板上，在距地面约20厘米的高度进行水平扫描，从而在真实尺寸的直角坐标系中获得周围环境的水平横截面，包括行人的移动脚和静止物体。控制每个LD-A的客户端计算机通过背景减法提取移动脚的数据，并将其发送到服务器计算机，在服务器计算机上将它们在空间和时间上集成到全球坐标系中。定义了一种基于典型运动脚外观的简化行人行走模型，并提出了一种利用卡尔曼滤波跟踪行人轨迹的方法。通过实际实验和计算机仿真对系统进行了评价。真实实验在展厅进行，使用3个led，面积约60 × 60 m(2)。分析了整个展览日的参观者流量变化，其中在高峰时段，同时提取了约100条轨迹。另一方面，进行了计算机模拟，定量地考察了系统在不同人群密度下的性能。
In this research, we propose a novel system for tracking pedestrians in a wide and open area, such as a shopping mail and exhibition hall, using a number of single-row laser-range scanners (LD-A), which have a profiling rate of 10 Hz and a scanning angle of 270degrees. LD-As are set directly on the floor doing horizontal scanning at an elevation of about 20 cm above the ground, so that horizontal cross sections of the surroundings, containing moving feet of pedestrians as well as still objects, are obtained in a rectangular coordinate system of real dimension. The data of moving feet are extracted through background subtraction by the client computers that control each LD-A, and sent to a server computer, where they are spatially and temporally integrated into a global coordinate system. A simplified pedestrian's walking model based on the typical appearance of moving feet is defined and a tracking method utilizing Kalman filter is developed to track pedestrian's trajectories. The system is evaluated through both real experiment and computer simulation. A real experiment is conducted in an exhibition hall, where three LD-As are used covering an area of about 60 x 60 m(2). Changes in visitors' flow during the whole exhibition day are analyzed, where in the peak hour, about 100 trajectories are extracted simultaneously. On the other hand, a computer simulation is conducted to quantitatively examine system performance with respect to different crowd density.