Accelerating Vanishing Point-Based Line Sampling Scheme for Real-Time People Localization

Using Fisheye Camera For Cost-Effective Multi-View People Localization

“…To improve the efficiency of occupancy map-based approaches, a vanishing point-based line sampling scheme is first proposed in [18] to avoid the costly computation for projecting all pixels of image foreground from every camera views. To further improve localization efficiency, simpler projections of the above line samples are proposed in [19], which consists of the following steps (as shown in Fig. 1, with the first two steps similar to those presented in [18]): 1.…”

“…1. Flowchart the proposed people localization scheme which works for both fisheye and ordinary cameras (extended from [19]).…”

“…Besides using blob information obtained from image foreground and assuming minimal people occlusion [1]- [3], or validating human models using a probabilistic occupancy map (POM) framework [4]- [7], the third type of multi-view approaches estimate people locations based on occupancy map(s) established by projecting image intensity/foreground information from all camera views to selected reference plane(s) [8]- [18]. In particular, an acceleration scheme is proposed in [19] to determine people locations, which adopts the line sampling scheme [18] based on the vanishing point of vertical lines (VPVL), but only projects foreground line samples to the ground plane (not to the 3D space as in [18]) before people locations are estimated by considering ground regions containing a high density of projected lines.…”

“…In this paper, we propose a further extension of the approach of [19] using fisheye camera without altering the line sampling scheme (see red boxes in Fig. 1), i.e., through proper calibration and orientation of the fisheye camera, its principal center will serve as the VPVL while proper ground projection can be computed with its radial distortion function.…”

“…B. The size of a monitored area can be more than twice of that in [19] under (A), but with comparable localization accuracy (or higher accuracy for similar size). C. The camera installation process is much simpler.…”