Integration of Ultrasonic Sensors and Kinect Sensors for People Distinction and 3D Localization
Takayuki Adachi*1, Masafumi Goseki*1, Hiroshi Takemura*1,
Hiroshi Mizoguchi*1, Fusako Kusunoki*2, Masanori Sugimoto*3,
Etsuji Yamaguchi*4, Shigenori Inagaki*4, and Yoshiaki Takeda*4
*1Department of Mechanical Engineering, Faculty of Science and Technology, Tokyo University of Science, 2641 Yamazaki, Noda, Chiba 278-8510, Japan
*2Tama Art University, Japan
*3Hokkaido University, Japan
*4Kobe University, Japan
The method proposed here for 3D position measurement and identification of individuals by integrating ultrasonic and Kinect sensors uses ultrasonic transmitter tags with unique identifiers. Ultrasonic sensors measure the 3D positions of and identify tagged individuals, but cannot make measurements if there are no receivers in the direction of ultrasonic waves from transmitters. Kinect sensors measure 3D positions of individuals and track them with OpenNI, but Kinect sensors cannot make measurements if occlusion occurs due to the overlapping of individuals. Evaluation results show that the method proposed here is more robust than methods only using either ultrasonic or Kinect sensors.
Hiroshi Mizoguchi, Fusako Kusunoki, Masanori Sugimoto,
Etsuji Yamaguchi, Shigenori Inagaki, and Yoshiaki Takeda, “Integration of Ultrasonic Sensors and Kinect Sensors for People Distinction and 3D Localization,” J. Robot. Mechatron., Vol.25, No.4, pp. 762-766, 2013.
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-  Y. Nishida et al., “3D Ultrasonic Tagging System for Observing Human Activity,” IEEE Int. Conf. on Intelligent Robots and Systems (IROS2003), pp. 785-791, 2003.
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