Person detection, tracking and following using stereo camera

Xiaofeng Wang; Lilian Zhang; Duo Wang; Xiaoping Hu

doi:10.1117/12.2302637

10 April 2018 Person detection, tracking and following using stereo camera

Xiaofeng Wang, Lilian Zhang, Duo Wang, Xiaoping Hu

Proceedings Volume 10615, Ninth International Conference on Graphic and Image Processing (ICGIP 2017); 106150D (2018) https://doi.org/10.1117/12.2302637
Event: Ninth International Conference on Graphic and Image Processing, 2017, Qingdao, China

Abstract

Person detection, tracking and following is a key enabling technology for mobile robots in many human–robot interaction applications. In this article, we present a system which is composed of visual human detection, video tracking and following. The detection is based on YOLO(You only look once), which applies a single convolution neural network(CNN) to the full image, thus can predict bounding boxes and class probabilities directly in one evaluation. Then the bounding box provides initial person position in image to initialize and train the KCF(Kernelized Correlation Filter), which is a video tracker based on discriminative classifier. At last, by using a stereo 3D sparse reconstruction algorithm, not only the position of the person in the scene is determined, but also it can elegantly solve the problem of scale ambiguity in the video tracker. Extensive experiments are conducted to demonstrate the effectiveness and robustness of our human detection and tracking system.

Citation Download Citation

Xiaofeng Wang, Lilian Zhang, Duo Wang, and Xiaoping Hu "Person detection, tracking and following using stereo camera", Proc. SPIE 10615, Ninth International Conference on Graphic and Image Processing (ICGIP 2017), 106150D (10 April 2018); https://doi.org/10.1117/12.2302637

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