Abstract
In this paper we propose the use of low-cost thermal imaging sensors for the application of people tracking in Ambient Assisted Living environments. We describe background subtraction and segmentation on low-resolution thermal images as the necessary preprocessing steps to derive suitable percepts. Extensive data association to samples of a set of Monte-Carlo particle filters is realized by circle-circle intersection tests between percepts and pose hypotheses. Experimental evaluation conducted in the Bremen Ambient Assisted Living Lab proves the precision of the proposed system by comparing the tracking results against ground truth data coming from an ARTTRACK optical tracking system.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Advanced Realtime Tracking GmbH. ARTTRACK System (2015). http://www.ar-tracking.com/products/tracking-systems/arttrack-system/
Autexier, S., Hutter, D., Mandel, C., Stahl, C.: SHIP-tool live: orchestrating the activities in the bremen ambient assisted living lab. In: Augusto, J.C., Wichert, R., Collier, R., Keyson, D., Salah, A.A., Tan, A.-H. (eds.) AmI 2013. LNCS, vol. 8309, pp. 269–274. Springer, Heidelberg (2013)
Bazzani, L., Bloisi, D., Murino, V.: A Comparison of multi hypothesis kalman filter and particle filter for multi-target tracking. In: Performance Evaluation of Tracking and Surveillance workshop at CVPR, pp. 47–54, Miami, Florida (2009)
Eisa, S., Moreira, A.: Requirements and metrics for location and tracking for ambient assisted living. In: 2012 International Conference on Indoor Positioning and Indoor Navigation (IPIN), pp. 1–7, November 2012
FLIR Systems Inc. FLIR LEPTON Long Wave Infrared (LWIR) Datasheet (2015). http://cvs.flir.com/lepton-data-brief?_ga=1.148414963.572252733.1449483173
Fox, D., Burgard, W., Dellaert, F., Thrun, S.: Monte carlo localization: efficient position estimation for mobile robots. In: Proceedings of the National Conference on Artificial Intelligence (AAAI), pp. 343–349 (1999)
Future-Shape GmbH. SensFloor large-area sensor system (2015). http://www.future-shape.com/en/technologies/23/sensfloor-large-area-sensor-system
Grisetti, G., Stachniss, C., Burgard, W.: Improved techniques for grid mapping with rao-blackwellized particle filters. IEEE Trans. Rob. 23(1), 34–46 (2007)
Hevesi, P., Wille, S., Pirkl, G., Wehn, N., Lukowicz, P.: Monitoring household activities and user location with a cheap, unobtrusive thermal sensor array. In: Proceedings of the 2014 ACM International Joint Conference on Pervasive and Ubiquitous Computing, UbiComp 2014, pp. 141–145. ACM, New York (2014)
Krieg-Brückner, B., Röfer, T., Shi, H., Gersdorf, B.: Mobility assistance in the bremen ambient assisted living lab. GeroPsych J. Gerontopsychology Geriatr. Psychiatry 23(2), 121–130 (2010)
Kumar, S., Marks, T.K., Jones, M.: Improving person tracking using an inexpensive thermal infrared sensor. In: 2014 IEEE Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), pp. 217–224, June 2014
Röfer, T., Laue, T.: On B-human’s code releases in the standard platform league – software architecture and impact. In: Behnke, S., Veloso, M., Visser, A., Xiong, R. (eds.) RoboCup 2013. LNCS, vol. 8371, pp. 648–655. Springer, Heidelberg (2014)
Voigt, M.: Monte-Carlo Lokalisierung im Innenraum mittels Bluetooth Low Energy basiertem Fingerprinting. Master’s thesis, University of Bremen, May 2015
Wolfram MathWorld - the web’s most extensive mathematics resource. Circle-Circle Intersection 2015. http://mathworld.wolfram.com/Circle-CircleIntersection.html
Acknowledgement
Special thanks go to Felix Wenk and Jan Janssen who supported us in setting up the A.R.T. DTrack2 tracking system for evaluation.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Mandel, C., Autexier, S. (2016). People Tracking in Ambient Assisted Living Environments Using Low-Cost Thermal Image Cameras. In: Chang, C., Chiari, L., Cao, Y., Jin, H., Mokhtari, M., Aloulou, H. (eds) Inclusive Smart Cities and Digital Health. ICOST 2016. Lecture Notes in Computer Science(), vol 9677. Springer, Cham. https://doi.org/10.1007/978-3-319-39601-9_2
Download citation
DOI: https://doi.org/10.1007/978-3-319-39601-9_2
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-39600-2
Online ISBN: 978-3-319-39601-9
eBook Packages: Computer ScienceComputer Science (R0)