Person Tracking Using Ankle‐Level LiDAR Based on Enhanced DBSCAN and OPTICS

Abstract

Along with the progress of deep learning techniques, people tracking using video cameras became easy and accurate. However, privacy and security issues are not enough to be concerned with vision-based monitoring. People may not be tolerated surveillance cameras installed everywhere in our daily life. A camera-based system may not work robustly in unusual situations such as smoke, fogs, or darkness. To cope with these problems, we propose a two-dimensional (2D) LiDAR-based people tracking technique based on clustering algorithms. A LiDAR sensor is a prominent approach for tracking people without disclosing their identity, even under challenging conditions. For tracking people, we propose modified density-based spatial clustering of applications with noise (DBSCAN) and ordering points to identify cluster structure (OPTICS) algorithms for clustering 2D LiDAR data. We have confirmed that our approach significantly improves the accuracy and robustness of people tracking through the experiments.

Single Person Identification and Activity Estimation in a Room from Waist-Level Contours Captured by 2D Light Detection and Ranging

“…Before performing person identification and activity estimation, it is crucial to detect the human contour from the 2D-LIDAR scan point clouds. Various methods exist for extracting human contours from 2D-LIDAR data, including machine learning-based detection [ 22 ] and clustering techniques [ 23 ]. Fortunately, as the point cloud segment of the hip contour is extracted from the 2D-LIDAR at hip height, distinguishing these segments from others is more straightforward compared to ankle segments.…”

Limitation of laser radiation power by carbon materials with a nonlinear optical threshold effect at a flat-top pulse shape

“…The number of laser studies increases with time, lasers are efficiently used to solve problems of medicine, industry, and science [9,10]. It is worth separate mentioning the increasing number of lidars, which are used almost everywhere in multiple fields, such as navigation of aircrafts [11,12], autonomous vehicles [13] and mobile robots [14], bathymetry [15,16] and land topography [17,18], study of atmospheric aerosols [19], and gas detection [20]. These applications involve a wide range of wavelengths [21,22].…”

Ограничение Мощности Лазерного Излучения Углеродными Материалами С Нелинейным Оптическим Пороговым Эффектом При Форме Импульса С Плоской Вершиной

“…Количество лазерных исследований увеличивается с годами, лазеры эффективно применяются для решения задач медицины, промышленности и науки [9,10]. Отдельно стоит выделить возрастающее число лидаров, которые используются почти повсеместно во многих сферах: навигация летательных аппаратов [11,12], автономных транспортных средств [13] и мобильных роботов [14], батиметрия [15,16] и топографирование земли [17,18], изучение атмосферных аэрозолей [19] и обнаружение газов [20]. При этом они охватывают большой диапазон длин волн [21,22].…”