Abstract
This paper outlines a method for the detection and tracking of people in depth images, acquired with a low-resolution Time-of-Flight (ToF) camera. This depth sensor is placed perpendicular to the ground in order to provide distance information from a top-view position.
With usage of intrinsic and extrinsic camera parameters a ground plane is estimated and compared to the measured distances of the ToF sensor in every pixel. Differences to the expected ground plane define foreground information, which is used as regions of interest (ROIs). These regions are analyzed to distinguish persons from other objects by using a matched filter on the height-segmented depth measurements of each ROI. The proposed method separates crowds into individuals and facilitates a multi-object tracking system based on a Kalman filter.
Experiments have proven the applicability of the system for different crowding scenarios but also revealed inaccuracies of the detection of people in special cases.
Access provided by Autonomous University of Puebla. Download to read the full chapter text
Chapter PDF
Similar content being viewed by others
References
Bar-Shalom, J., Rong Li, X., Kirubarajan, T.: Estimation with Applications to Tracking and Navigation. John Wiley & Sons (2001)
Bevilacqua, A., Di Stefano, L., Azzari, P.: People tracking using a Time-of-Flight depth sensor. In: IEEE Fifth International Conference on Advanced Video and Signal Based Surveillance (2006)
Beymer, D., Konolige, K.: Tracking People from a Mobile Platform. In: Siciliano, B., Dario, P. (eds.) Experimental Robotics VIII. STAR, vol. 5, pp. 234–244. Springer, Heidelberg (2003)
Foix, S., Alenyá, G., Torras, C.: Lock-in Time-of-Flight (ToF) Cameras: A Survey. IEEE Sensors Journal 11(9), 1917–1926 (2011)
Gavriilidis, A., Schwerdtfeger, T., Velten, J., Schauland, S., Hohmann, L., Haselhoff, A., Boschen, F., Kummert, A.: Multisensor data fusion for advanced driver assistance systems - the Active Safety Car project. In: International Workshop on Multidimensional Systems (nDs), vol. 7, pp. 1–5 (2011)
Gonzalez, R.C., Woods, R.E.: Digital Image Processing, 2nd edn. Prentice Hall International, Boston (2001)
Hansard, M., Lee, S., Choi, O., Horaud, R.P.: Time of Flight Cameras: Principles, Methods, and Applications. Springer Briefs in Computer Science. Springer (2012)
Harville, M.: Stereo person tracking with short and long term plan-view appearance models of shape and color. In: Proceedings of International Conference on Advanced Video and Signal based Surveillance (AVSS), vol. 1, pp. 511–517. Santa Fe (2005)
Harville, M., Li, D.: Fast, Integrated Person Tracking and Activity Recognition with Plan-View Templates from a Single Stereo Camera. In: IEEE Conference on Computer Vision and Pattern Recognition, Washington (2004)
Helbing, D., Mukerji, P.: Crowd Disasters as Systemic Failures: Analysis of the Love Parade Disaster. Tech. rep., ETH Risk Center, Zürich (2011)
Mallat, S.: A Wavelet Tour of Signal Processing. Academic Press (1998)
PMD Technologies, PMD vision CamCube 3.0 Specsheet - High resolution 3D video camera. Tech. rep., PMD Technologies GmbH (2010)
Reynolds, M., Dobos, J., Peel, L., Weyrich, T., Brostow, G.: Capturing Time-of-Flight Data with Confidence. In: Proc. of IEEE Conference on Computer Vision and Pattern Recognition, CVPR (2011)
Ringbeck, T.: A 3D Time of Flight Camera for Object Detection. In: Optical 3-D Measurement Techniques (2007)
Soille, P.: Morphological Image Analysis: Principles and Applications. Springer (1999)
Still, G.K.: Duisburg - July 24, 2010, Love Parade Incident, Expert Report. Tech. rep., Bucks New University (2011)
Tanner, R., Studer, M., Zanoli, A., Hartmann, A.: People Detection and Tracking with TOF Sensor. In: IEEE Fifth International Conference on Advanced Video and Signal Based Surveillance (2008)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Stahlschmidt, C., Gavriilidis, A., Velten, J., Kummert, A. (2013). People Detection and Tracking from a Top-View Position Using a Time-of-Flight Camera. In: Dziech, A., Czyżewski, A. (eds) Multimedia Communications, Services and Security. MCSS 2013. Communications in Computer and Information Science, vol 368. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-38559-9_19
Download citation
DOI: https://doi.org/10.1007/978-3-642-38559-9_19
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-38558-2
Online ISBN: 978-3-642-38559-9
eBook Packages: Computer ScienceComputer Science (R0)