Laser-based detection and tracking of multiple people in crowds
Computer Vision and Image Understanding
Multi-modal tracking of people using laser scanners and video camera
Image and Vision Computing
A novel approach to the mobile robot localization problem using tracking methods
RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications
Describing human-object interaction in intelligent space
HSI'09 Proceedings of the 2nd conference on Human System Interactions
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ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Pose estimation of multiple people using contour features from multiple laser range finders
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Pedestrian detection and tracking in an urban environment using a multilayer laser scanner
IEEE Transactions on Intelligent Transportation Systems
ICOST'10 Proceedings of the Aging friendly technology for health and independence, and 8th international conference on Smart homes and health telematics
Multi-robot multiple hypothesis tracking for pedestrian tracking
Autonomous Robots
ACM Transactions on Intelligent Systems and Technology (TIST) - Special section on twitter and microblogging services, social recommender systems, and CAMRa2010: Movie recommendation in context
Moving object detection with laser scanners
Journal of Field Robotics
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We propose a novel system for tracking pedestrians in a wide and open area, such as a shopping mall and exhibition hall, using a number of single-row laser-range scanners (LD-A), which have a profiling rate of 10 Hz and a scanning angle of 270°. LD-As are set directly on the floor doing horizontal scanning at an elevation of about 20 cm above the ground, so that horizontal cross sections of the surroundings, containing moving feet of pedestrians as well as still objects, are obtained in a rectangular coordinate system of real dimension. The data of moving feet are extracted through background subtraction by the client computers that control each LD-A, and sent to a server computer, where they are spatially and temporally integrated into a global coordinate system. A simplified pedestrian's walking model based on the typical appearance of moving feet is defined and a tracking method utilizing Kalman filter is developed to track pedestrian's trajectories. The system is evaluated through both real experiment and computer simulation. A real experiment is conducted in an exhibition hall, where three LD-As are used covering an area of about 60×60 m2. Changes in visitors' flow during the whole exhibition day are analyzed, where in the peak hour, about 100 trajectories are extracted simultaneously. On the other hand, a computer simulation is conducted to quantitatively examine system performance with respect to different crowd density.