A laser-based people tracker

This paper describes a method for real-time tracking of people in everyday environments, using multiple planar laser range-finders. People tracking is a well-studied problem in machine vision; in this paper, we adapt some of those methods to laser range-finders. We group range measurement into entit...

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Bibliographic Details
Main Authors: Fod, Ajo, Howard, Andrew, Mataric, Maja J
Format: Conference Proceeding
Language:English
Online Access:Get full text
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Summary:This paper describes a method for real-time tracking of people in everyday environments, using multiple planar laser range-finders. People tracking is a well-studied problem in machine vision; in this paper, we adapt some of those methods to laser range-finders. We group range measurement into entities such as blobs and objects, and use a Kalman Filter to estimate trajectories for these objects. The filter is able to generate smooth trajectories, even when objects are occluded. This paper presents our evaluation of the tracker's performance in a series of four experiments.
ISSN:1050-4729