An integrated robot vision system for multiple human tracking and silhouette extraction

Authors:
Jung-Ho Ahn;Sooyeong Kwak;Cheolmin Choi;Kilcheon Kim;Hyeran Byun
Affiliations:
Dept. of Computer Science, Yonsei University, Seoul, Korea;Dept. of Computer Science, Yonsei University, Seoul, Korea;Dept. of Computer Science, Yonsei University, Seoul, Korea;Dept. of Computer Science, Yonsei University, Seoul, Korea;Dept. of Computer Science, Yonsei University, Seoul, Korea
Venue:
ICAT'06 Proceedings of the 16th international conference on Advances in Artificial Reality and Tele-Existence
Year:
2006

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Abstract

In this paper, we propose a new integrated robot vision system designed for multiple human tracking and silhouette extraction using an active stereo camera. The proposed system focuses on robustness to camera movement. Human detection is performed by camera egomotion compensation and disparity segmentation. A fast histogram based tracking algorithm is presented by using the mean shift principle. Color and disparity values are combined by the weighted kernel for the tracking feature. The human silhouette extraction is based on graph cut segmentation. A trimap is estimated in advance and this is effectively incorporated into the graph cut framework.