Person Tracking in Large Public Spaces Using 3-D Range Sensors
Person Tracking in Large Public Spaces Using 3-D Range Sensors
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DOI：
10.1109/thms.2013.2283945
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发表时间：
2013-11-01
影响因子：
3.6
通讯作者：
Miyashita, Takahiro
中科院分区：
文献类型：
--
作者：
Brscic, Drazen;Kanda, Takayuki;Miyashita, Takahiro
提出了一种在大型公共环境中跟踪人的位置、方向和高度的方法。众所周知，这样的信息对于理解它们的行为以及人机交互等应用程序都是有用的。我们使用多个3d距离传感器，这些传感器安装在人体高度以上，以减少人与人之间的遮挡。提出了一种计算简单的跟踪方法，该方法适用于单个传感器数据，并将多个传感器组合在一起，以便用最少数量的传感器覆盖大面积。此外，该方法可以应用于不同类型的传感器，并且对不完善的传感器测量具有鲁棒性；因此，可以结合目前可用的3d距离传感器解决方案，在宽阔的公共空间实现跟踪。在一个购物中心环境中实现了该方法，结果表明该方法具有良好的跟踪性能。
A method for tracking the position, orientation, and height of persons in large public environments is presented. Such a piece of information is known to be useful both for understanding their actions, as well as for applications such as human-robot interaction. We use multiple 3-D range sensors, which are mounted above human height to have less occlusion between persons. A computationally simple-tracking method is proposed that works on single sensor data and combines multiple sensors so that large areas can be covered with a minimum number of sensors. Moreover, it can work with different sensor types and is robust to the imperfect sensor measurements; therefore, it is possible to combine currently available 3-D range sensor solutions to achieve tracking in wide public spaces. The method was implemented in a shopping center environment, and it was shown that good tracking performance can be achieved.