Multiple-Person tracking using a plan-view map with error estimation

Authors:
Kentaro Hayashi;Takahide Hirai;Kazuhiko Sumi;Koichi Sasakawa
Affiliations:
Advanced Technology R&D Center, Mitsubishi Electric Co., Hyogo, Japan;Advanced Technology R&D Center, Mitsubishi Electric Co., Hyogo, Japan;Graduate School of Informatics, Kyoto University, Kyoto, Japan;Advanced Technology R&D Center, Mitsubishi Electric Co., Hyogo, Japan
Venue:
ACCV'06 Proceedings of the 7th Asian conference on Computer Vision - Volume Part I
Year:
2006

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Abstract

In this paper we describe a new method for detecting and tracking multiple persons with a stereo camera. The method is based on the idea of the plan-view map, i.e., the 2D histogram of projected 3D measurements from the camera. It estimates the statistical feature in an optimal window, e.g., a rectangular region, on the histogram, considering stereo measurement error, human breadth, and height. Then, it measures the actual statistical feature in the same window on the input histogram and compares estimated feature with measured one to detect and track persons. Experimental results show that our method can achieve higher performance than a normal plan-view map.