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Tracking multiple people using laser and vision

Jinshi Cui, Hongbin Zha, Huijing Zhao, R. Shibasaki
2005 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We present a novel system that aims at reliably detecting and tracking multiple people in an open area. Multiple single-row laser scanners and one video camera are utilized.  ...  Tracking. Laser scanner. Video camera. Sensor fusion.  ...  Multiple laser scanners and one video camera are utilized. People detection is mainly achieved by feet trajectory detection from laser data.  ... 
doi:10.1109/iros.2005.1545159 dblp:conf/iros/CuiZZS05 fatcat:55s332l5kbfkdlb6ldijaqpmke

Multi-modal tracking of people using laser scanners and video camera

Jinshi Cui, Hongbin Zha, Huijing Zhao, Ryosuke Shibasaki
2008 Image and Vision Computing  
In this paper, we present a novel method that aims at reliably detecting and tracking multiple people in an open area. Multiple laser scanners and one camera are used as input sensors.  ...  Recently, a few laser-based detection and tracking methods have been developed in robotics area. However, poor features provided by laser data make the tracker fail in many situations.  ...  In the computer vision area, automatically detecting and tracking people in dynamic scenes have been extensively studied for decades.  ... 
doi:10.1016/j.imavis.2007.05.005 fatcat:yvwvsmdbqjapbnti352wpqvdvu

Comparison of pose estimation methods of a 3D laser tracking system using triangulation and photogrammetry techniques

Francois Blais, J. A. Beraldin, Sabry F. El-Hakim, Luc Cournoyer, Sabry F. El-Hakim, Armin Gruen
2000 Videometrics and Optical Methods for 3D Shape Measurement  
In this paper, we compare the accuracy and resolution of a 3D-laser scanner prototype that tracks in real-time and computes the relative pose of objects in a 3D space.  ...  This 3D-laser scanner prototype was specifically developed to study the use of such a sensor for space applications.  ...  Figure 2 : 2 Figure 2: Prototype of the laser scanner system. A conventional video camera is "temporarily" mounted on the laser scanner for monitoring and comparison with conventional methods.  ... 
doi:10.1117/12.410874 fatcat:s3lfszlnhveanit7ilu4ux7uam

SINGLE-LAYER LASER SCANNER FOR DETECTION AND LOCALIZATION OF UNMANNED SWARM MEMBERS

T. Krüger, S. Nowak, J. Matthaei, U. Bestmann
2013 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
A flight test is done finally in order to prove the capability of the laser scanner to detect and locate an UAV.  ...  Therefore this work proposes the utilization of a singlelayer laser scanner, which is used for Simultaneous Localization And Mapping (SLAM) for the compensation of a defective relative positioning system  ...  Special thanks go to the Institute of Flight System Dynamics, Technische Universität München, which is one of the project partners of this project, for providing the flight dynamic simulation environment  ... 
doi:10.5194/isprsarchives-xl-1-w2-229-2013 fatcat:4f6ekdw5fbca3df7os3b2k3mge

Range error analysis of an integrated time-of-flight, triangulation, and photogrammetric 3D laser scanning system

Francois Blais, J. A. Beraldin, Sabry F. El-Hakim, Gary W. Kamerman, Upendra N. Singh, Christian Werner, Vasyl V. Molebny
2000 Laser Radar Technology and Applications V  
A 3-D laser tracking scanner system analysis focusing on immunity to ambient sunlight and geometrical resolution and accuracy is presented in the context of a space application.  ...  This 3-D laser scanner system can be used in imagery or in tracking modes, using either time-offlight (TOF) or triangulation methods for range acquisition.  ...  A more subtle case for automated machine vision system is concerned with lighting gradients (cast shadows) as illustrated in Figure 1b , which requires both extended dynamic range for the video camera  ... 
doi:10.1117/12.397796 fatcat:7sa3bcukdvck7njm4xt33lqxgm

Multi sensor fusion for object detection using generalized feature models

H. Cramer, U. Scheunert, C. Wanielik
2003 Sixth International Conference of Information Fusion, 2003. Proceedings of the  
This system works with two sensors: a laser scanner and an infrared camera.  ...  Therefore, we propose a new generalized 3D model which is suitable for this case. The paper presents a system for the detection and tracking of cars in road environments as an example.  ...  As our paper treats with a special example of vehicle detection and tracking, a multi sensor system with two sensors, consisting of an infrared camera and a laser scanner is chosen.  ... 
doi:10.1109/icif.2003.177419 fatcat:2r7etrlnavfwtcpgrq2lfa7rvi

A system of automated training sample generation for visual-based car detection

Chao Wang, Huijing Zhao, Franck Davoine, Hongbin Zha
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
There are mainly two parts in the system: laser-based car detection and tracking generates motion trajectories of on-road cars, and then visual samples are extracted by fusing the detection and tracking  ...  A multi-modal sensor system is developed for the omni-directional data collection on a test-bed vehicle.  ...  As shown in Fig.1 , the system consists of three modal of sensors: laser scanners (Lidar), video cameras and GPS/IMU.  ... 
doi:10.1109/iros.2012.6386060 dblp:conf/iros/WangZDZ12 fatcat:3uppgnoodveyphzczyw7xnkbbq

Vehicle detection and tracking by collaborative fusion between laser scanner and camera

Dominique Gruyer, Aurelien Cord, Rachid Belaroussi
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Information are provided by a mono-layer laser scanner and a monocular camera which are unsynchronized.  ...  This multi-object association and tracking scheme is implemented using belief theory integrating temporal and spatial information, which allows the estimation of the dynamic state of the tracks and to  ...  In this paper, we present a new approach to efficiently detect and track on-road vehicles using multiple sensors, namely a laser scanner and a camera: the focus is made on the issue of data association  ... 
doi:10.1109/iros.2013.6697109 dblp:conf/iros/GruyerCB13 fatcat:yssjdz6ck5fcfknlzvpofjmrza

An Integration Concept for Vision-Based Object Handling: Shape-Capture, Detection and Tracking [chapter]

Matthias J. Schlemmer, Georg Biegelbauer, Markus Vincze
2006 Lecture Notes in Computer Science  
Therefore, we combine a laser range sensor for the first two steps and a monocular camera for the tracking step.  ...  In this work we introduce the concept of such a vision system closing the chain of shape-capturing, detecting and tracking.  ...  A laser range scanner for retrieving object parameters as well as for detecting the object in the scene, is combined with a monocular CCD camera that is liable for the tracking part.  ... 
doi:10.1007/11821045_23 fatcat:6xtvxduvo5cw5jxqfp27ztefne

Integration of a tracking laser range camera with the photogrammetry-based space vision system

Francois Blais, J. A. Beraldin, Luc Cournoyer, Iain Christie, R. Serafini, K. Mason, S. McCarthy, C. Goodall, Michael K. Masten, Larry A. Stockum
2000 Acquisition, Tracking, and Pointing XIV  
obtained during the integration of a 3-D Laser Scanner Tracking System and the current Space Vision System used by NASA.  ...  The Laser Scanner System uses two high-speed galvanometers and a collimated laser beam to address individual targets on the object.  ...  For the SVS system, the Laser Scanner appears like a conventional video camera.  ... 
doi:10.1117/12.391665 fatcat:lbi5ijg7qvavti6z4vxyaphfyi

A multi-pedestrian detection and counting system using fusion of stereo camera and laser scanner

Bo Ling, Spandan Tiwari, Zhuang Li, David R. P. Gibson, Andrew G. Tescher
2010 Applications of Digital Image Processing XXXIII  
In this paper, we present an advanced pedestrian counting system using a stereo camera and a laser scanner.  ...  A mapping algorithm has been developed to map the detection locations in the laser scanner coordinates to the stereo-image coordinates.  ...  We appreciate the support from Police Department of Town of Walpole for granting us the permission of onsite data collection.  ... 
doi:10.1117/12.860244 fatcat:jb4qzcauwvepladv6rqg5sbhyi

Tracking hands above large interactive surfaces with a low-cost scanning laser rangefinder

Joshua Strickon, Joseph Paradiso
1998 CHI 98 conference summary on Human factors in computing systems - CHI '98  
Although this system responded well enough to body dynamics and location for its original application, the limited disambiguation from four receive electrodes was unable to result in a repeatable hand  ...  We have used this device to build a precise, multipoint "touchscreen" interface for large video projection systems.  ...  ACKNOWLEDGMENTS We thank Ed Boyden, Matt Reynolds, Neil Gershenfeld and our other Physics and Media colleagues.  ... 
doi:10.1145/286498.286719 dblp:conf/chi/StrickonP98 fatcat:blgdggtcwrejzmt5loeutdths4

Rethinking Robot Vision – Combining Shape and Appearance

Matthias J. Schlemmer, Georg Biegelbauer, Markus Vincze
2007 International Journal of Advanced Robotic Systems  
In this paper we summarise work on combining two different vision sensors, namely a laser range scanner and a monocular colour camera, for shape-capturing, detecting and tracking of objects in cluttered  ...  We describe the framework and its components of visual shape-capturing, fast 3D object detection and robust tracking as well as examples that show the feasibility of this approach.  ...  A recent paper by (Youngrock, Y. et al, 2005) shows a combination of a laser scanner and a camera for tracking complex objects (e.g. a toy lorry).  ... 
doi:10.5772/5691 fatcat:ygvidfs3nndbncrdjdo2u5ynwy

Bayesian fusion of laser and vision for multiple People Detection and tracking

Xuan Song, Jinshi Cui, Huijing Zhao, Hongbin Zha
2008 2008 SICE Annual Conference  
We present a promising system to simultaneously detect and track multiple humans in the outside scene using laser and vision.  ...  The useful information of laser and vision is automatically extracted and combined in a Bayesian formulation.  ...  Laser scanner provides us robust human detection map and video camera provides rich color information.  ... 
doi:10.1109/sice.2008.4655180 fatcat:v4idgek52rhmphrpu7kgtpzdhm

Pedestrian collision avoidance systems: a survey of computer vision based recent studies

T. Gandhi, M.M. Trivedi
2006 2006 IEEE Intelligent Transportation Systems Conference  
This paper gives a survey of recent research on pedestrian collision avoidance systems.  ...  Collision avoidance not only requires detection of pedestrians, but also collision prediction using pedestrian dynamics and behavior analysis.  ...  Scheunert IV04 [24] Tracking FIR, LASER scanner Time-of-flight, hot object detection LASER scanner detection using 1 st and 2 nd derivatives w.r.t. azimuth angles.  ... 
doi:10.1109/itsc.2006.1706871 dblp:conf/itsc/GandhiT06 fatcat:woolpbxkjvhmbl2stjhdnsuway
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