3D audiovisual person tracking using Kalman filtering and information theory

Authors:
Nikos Katsarakis;George Souretis;Fotios Talantzis;Aristodemos Pnevmatikakis;Lazaros Polymenakos
Affiliations:
Athens Information Technology, Autonomic and Grid Computing, Peania, Greece;Athens Information Technology, Autonomic and Grid Computing, Peania, Greece;Athens Information Technology, Autonomic and Grid Computing, Peania, Greece;Athens Information Technology, Autonomic and Grid Computing, Peania, Greece;Athens Information Technology, Autonomic and Grid Computing, Peania, Greece
Venue:
CLEAR'06 Proceedings of the 1st international evaluation conference on Classification of events, activities and relationships
Year:
2006

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Abstract

This paper proposes a system for tracking people in three dimensions, utilizing audiovisual information from multiple acoustic and video sensors. The proposed system comprises a video and an audio subsystem combined using a Kalman filter. The video subsystem combines in 3D a number of 2D trackers based on a variation of Stauffer's adaptive background algorithm with spacio-temporal adaptation of the learning parameters and a Kalman tracker in a feedback configuration. The audio subsystem uses an information theoretic metric upon a pair of microphones to estimate the direction from which sound is arriving from. Combining measurements from a series of pairs the actual coordinate of the speaker in space is derived.