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Journal of Electronic Imaging

Cost-efficient RGB-D smart camera for people detection and tracking
Author(s): Marco Carraro; Matteo Munaro; Emanuele Menegatti
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Paper Abstract

We describe a software library we developed for efficiently using the Kinect v2, a time-of-flight RGB-D sensor, with an embedded system, the NVidia Jetson TK1, as a cost-efficient RGB-D smart camera for people detection and tracking. The speed-up needed for achieving real-time operation has been obtained using NVidia CUDA to concurrently generate and process the raw depth and infrared data and to create the three-dimensional point cloud. This library has been released as open source and the smart camera has been tested in real-world scenarios, as a people-detection node in an open-source multinode RGB-D tracking system (OpenPTrack) and onboard a service robot for endowing it with robust people-following capabilities. Moreover, we show that nonembedded computers also can benefit from our library in terms of people-detection frame rate.

Paper Details

Date Published: 27 April 2016
PDF: 9 pages
J. Electron. Imaging. 25(4) 041007 doi: 10.1117/1.JEI.25.4.041007
Published in: Journal of Electronic Imaging Volume 25, Issue 4
Show Author Affiliations
Marco Carraro, Univ. degli Studi di Padova (Italy)
Matteo Munaro, Univ. degli Studi di Padova (Italy)
Emanuele Menegatti, Univ. degli Studi di Padova (Italy)


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