Model-Free (Human) Tracking Based on Ground Truth with Time Delay: A 3D Camera Based Approach for Minimizing Tracking Latency and Increasing Tracking Quality

Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 383)


Model-free tracking allows tracking of objects without prior knowledge of their characteristics. However, many algorithms require a manual initialization to select the target object(s) and perform only a coarse tracking. This article presents a new hybrid approach that allows combining a new fast, model-free tracking algorithm using 3D cameras with an arbitrary separate, slower tracking method that provides a time-delayed ground truth. In particular, we focus on human tracking human and employ Time-of-Flight cameras for the model-free tracking, based on ground truth provided by (multiple) Kinect cameras. The article describes the setup of the system, the model-free tracking algorithm and presents evaluation results for two different scenarios. Results show a high precision and recall, even with large time-delays of the ground truth of up to 10 s.


3D camera Model-free tracking Probability propagation 

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Institute for Anthropomatics and Robotics (IAR), Intelligent Process Control and Robotics Lab (IPR), Karlsruhe Institute of Technology (KIT)KarlsruheGermany

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