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Proceedings Paper

People tracking with multiple laser range sensors
Author(s): Hiroshi Nishimura; Masafumi Hashimoto; Yosuke Matsui; Kazuhiko Takahashi
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Paper 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.

Paper Details

Date Published: 9 January 2008
PDF: 6 pages
Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 679410 (9 January 2008); doi: 10.1117/12.784374
Show Author Affiliations
Hiroshi Nishimura, Doshisha Univ. (Japan)
Masafumi Hashimoto, Doshisha Univ. (Japan)
Yosuke Matsui, Doshisha Univ. (Japan)
Kazuhiko Takahashi, Doshisha Univ. (Japan)

Published in SPIE Proceedings Vol. 6794:
ICMIT 2007: Mechatronics, MEMS, and Smart Materials
Minoru Sasaki; Gisang Choi Sang; Zushu Li; Ryojun Ikeura; Hyungki Kim; Fangzheng Xue, Editor(s)

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