2006
DOI: 10.1007/s10489-006-0013-3
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Real-time people localization and tracking through fixed stereo vision

Abstract: Abstract. Detecting, locating, and tracking people in a dynamic environment is important in many applications, ranging from security and environmental surveillance to assistance to people in domestic environments, to the analysis of human activities. To this end, several methods for tracking people have been developed using monocular cameras, stereo sensors, and radio frequency tags. In this paper we describe a real-time People Localization and Tracking (PLT) System, based on a calibrated fixed stereo vision s… Show more

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Cited by 42 publications
(57 citation statements)
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References 30 publications
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“…There are some extensions of the occupancy map, for instance, Harville [16] proposed a plan-view height map and plan-view color map, which represent the height and color of the pixel having the largest depth value at a certain plan-view position. The combined use of depth and color allows efficient discrimination of people in close proximity to each other [15], [18], [19]. Moreover, the multi-view approach using occupancy maps was also exploited to enhance occlusion robustness, as in [2], [17].…”
Section: Tracking With Depthmentioning
confidence: 99%
“…There are some extensions of the occupancy map, for instance, Harville [16] proposed a plan-view height map and plan-view color map, which represent the height and color of the pixel having the largest depth value at a certain plan-view position. The combined use of depth and color allows efficient discrimination of people in close proximity to each other [15], [18], [19]. Moreover, the multi-view approach using occupancy maps was also exploited to enhance occlusion robustness, as in [2], [17].…”
Section: Tracking With Depthmentioning
confidence: 99%
“…Under these assumptions, this process corresponds to people localization and tracking process with a fixed stereo camera (PLT), as described in [3,10]. The PLT system has been thus used for the first phase, providing for segmenting the image by distinguishing the foreground person from the background, by background subtraction considering both intensity and disparity (see [3] for details).…”
Section: Image Segmentation and Appearance Model Acquisitionmentioning
confidence: 99%
“…The stereo vision based People Localization and Tracking (PLT) [1,12] is composed by three processing modules: 1) segmentation based on background subtraction, that is used to detect foreground people to be tracked; 2) plan-view analysis, that is used to refine foreground segmentation and to compute observations for tracking; 3) tracking, that tracks observations over time maintaining association between tracks and tracked people (or objects).…”
Section: People Localization and Trackingmentioning
confidence: 99%
“…The stereo vision based people tracker in [1] has been used to provide XYZ-RGB data of tracked person in the scene. The tracker processes 640x480 images at about 10 frame per seconds, thus giving us high resolution and high rate data.…”
Section: Experimental Evaluationmentioning
confidence: 99%
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