JRM Vol.22 No.2 pp. 221-229
doi: 10.20965/jrm.2010.p0221


Multiple-Person Tracking by Multiple Cameras and Laser Range Scanners in Indoor Environments

Hiroshi Noguchi*, Taketoshi Mori*, Takashi Matsumoto**, Masamichi Shimosaka*, and Tomomasa Sato*

*The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

**Mitsubishi Research Institute, Inc., 2-3-6 Otemachi, Chiyoda-ku, Tokyo 100-8141, Japan

September 30, 2009
January 27, 2010
April 20, 2010
multiple-person tracking, particle filter, laser range scanner and camera

In this paper, we propose a method for multiple-person tracking using cameras and laser range scanners. Our method estimates 3D positions of human body and head, and labels them with their identities. Individual particle filters track person correctly by integrating information from laser range scanners and target-specific information from cameras, thus compensating for weak points of each. We also develop a particle filter framework that tracks the human head simultaneously using the estimated body position. Results of experiments demonstrate the effectiveness and robustness of the proposal in tracking multiple persons with multiple scanners and cameras.

Cite this article as:
Hiroshi Noguchi, Taketoshi Mori, Takashi Matsumoto, Masamichi Shimosaka, and Tomomasa Sato, “Multiple-Person Tracking by Multiple Cameras and Laser Range Scanners in Indoor Environments,” J. Robot. Mechatron., Vol.22, No.2, pp. 221-229, 2010.
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