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ICPR
2006
IEEE

Robust Tracking of Multiple People in Crowds Using Laser Range Scanners

10 years 14 days ago
Robust Tracking of Multiple People in Crowds Using Laser Range Scanners
Laser based people tracking systems have been developed for mobile robotic or intelligent surveillance areas. Existing systems rely on laser point clustering to extract object locations. However, in a crowded environment, laser points of different objects are often interlaced and undistinguishable and can not provide reliable features. This paper presents a novel and robust laser-based tracking method for people in crowds. Firstly, we propose a stable feature extraction method based on accumulated distribution of successive laser frames. Then a robust tracking filter is proposed based on the combination of independent Bayesian filter and sampling based data association filter. Evaluations with real data show that the proposed method is robust and effective. It achieves a significant improvement compared with existing trackers.
Jinshi Cui, Hongbin Zha, Huijing Zhao, Ryosuke Shi
Added 09 Nov 2009
Updated 09 Nov 2009
Type Conference
Year 2006
Where ICPR
Authors Jinshi Cui, Hongbin Zha, Huijing Zhao, Ryosuke Shibasaki
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