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 sensor. The system analyzes three interconnected representations of the stereo data (the left intensity image, the disparity image, and the 3-D world locations of measured points) to dynamically update a model of the background; extract foreground objects, such as people and rearranged furniture; track their positions in the world.
The system can detect and track people moving in an area approximately 3 x 8 meters in front of the sensor with high reliability and good precision.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Bahadori, S., Cesta, A., Iocchi, L., Leone, G.R., Nardi, D., Pecora, F., Rasconi, R., Scozzafava, L.: Towards ambient intelligence for the domestic care of the elderly. In: Remagnino, P., Foresti, G.L., Ellis, T. (eds.) Ambient Intelligance: A Novel Paradigm. Springer, Heidelberg (2004)
Beymer, D., Konolige, K.: Real-time tracking of multiple people using stereo. In: Proc. of IEEE Frame Rate Workshop (1999)
Darrell, T., Demirdjian, D., Checka, N., Felzenszwalb, P.F.: Plan-view trajectory estimation with dense stereo background models. In: Proc. of 8th Int. Conf. On Computer Vision (ICCV 2001), pp. 628–635 (2001)
Darrell, T., Gordon, G., Harville, M., Woodfill, J.: Integrated person tracking using stereo, color, and pattern detection. International Journal of Computer Vision 37(2), 175–185 (2000)
Focken, D., Stiefelhagen, R.: Towards vision-based 3-d people tracking in a smart room. In: Proc. 4th IEEE Int. Conf. on Multimodal Interfaces, ICMI 2002 (2002)
Haritaoglu, I., Harwood, D., Davis, L.S.: A real-time system detecting and tracking people in 2 1/2D. In: Proceedings of the 5th European Conference on Computer Vision, pp. 877–892. Springer, Heidelberg (1998)
Haritaoglu, I., Harwood, D., Davis, L.S.: An appearance-based body model for multiple people tracking. In: Proc. of 15th Int. Conf. on Pattern Recognition, ICPR 2000 (2000)
Harville, M., Gordon, G., Woodfill, J.: Foreground segmentation using adaptive mixture models in color and depth. In: Proc. of IEEE Workshop on Detection and Recognition of Events in Video, p. 2001
Kang, J., Cohen, I., Medioni, G.: Object reacquisition using invariant appearance model. In: Proc. of 17th Int. Conf. on Pattern Recognition, ICPR 2004 (2004)
Konolige, K.: Small vision systems: Hardware and implementation. In: Proc. of 8th International Symposium on Robotics Research (1997)
Krumm, J., Harris, S., Meyers, B., Brumitt, B., Hale, M., Shafer, S.: Multi-camera multi-person tracking for easyliving. In: Proc. of Int. Workshop on Visual Surveillance (2000)
Li, J., Chua, C.S., Ho, Y.K.: Color based multiple people tracking. In: Proc. of 7th Int. Conf. on Control, Automation, Robotics and Vision (2002)
Mittal, A., Davis, L.S.: M2Tracker: A multi-view approach to segmenting and tracking people in a cluttered scene using region-based stereo. In: Heyden, A., Sparr, G., Nielsen, M., Johansen, P. (eds.) ECCV 2002. LNCS, vol. 2350, pp. 18–36. Springer, Heidelberg (2002)
Robocare project, http://robocare.istc.cnr.it
Roh, K., Kang, S., Lee, S.W.: Multiple people tracking using an appearance model based on temporal color. In: Proc. of 15th Int. Conf. on Pattern Recognition, ICPR 2000 (2000)
Stauffer, C., Grimson, W.E.L.: Adaptive background mixture models for real-time tracking. In: IEEE Conf. on Computer Vision and Pattern Recognition (CVPR 1999), pp. 246–252 (1999)
Wren, C.R., Azarbayejani, A., Darrell, T., Pentland, A.: Pfinder: Real-time tracking of the human body. IEEE Trans. on Pattern Analysis and Machine Intelligence 19(7), 780–785 (1997)
Zhao, T., Nevatia, R.: Tracking multiple humans in crowded environment. In: IEEE Conf. on Computer Vision and Pattern Recognition, CVPR 2004 (2004)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2005 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Bahadori, S., Iocchi, L., Leone, G.R., Nardi, D., Scozzafava, L. (2005). Real-Time People Localization and Tracking Through Fixed Stereo Vision. In: Ali, M., Esposito, F. (eds) Innovations in Applied Artificial Intelligence. IEA/AIE 2005. Lecture Notes in Computer Science(), vol 3533. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11504894_6
Download citation
DOI: https://doi.org/10.1007/11504894_6
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26551-1
Online ISBN: 978-3-540-31893-4
eBook Packages: Computer ScienceComputer Science (R0)