Detection and tracking of multiple pedestrians by using laser range scanners

X Shao, H Zhao, K Nakamura… - 2007 IEEE/RSJ …, 2007 - ieeexplore.ieee.org
X Shao, H Zhao, K Nakamura, K Katabira, R Shibasaki, Y Nakagawa
2007 IEEE/RSJ International Conference on Intelligent Robots and …, 2007ieeexplore.ieee.org
We propose a novel system for tracking multiple pedestrians in a crowded scene by
exploiting single-row laser range scanners that measure distances of surrounding objects. A
walking model is built to describe the periodicity of the movement of the feet in the spatial-
temporal domain, and a mean-shift clustering technique in combination with spatial-
temporal correlation analysis is applied to detect pedestrians. Based on the walking model,
particle filter is employed to track multiple pedestrians. Compared with camera-based …
We propose a novel system for tracking multiple pedestrians in a crowded scene by exploiting single-row laser range scanners that measure distances of surrounding objects. A walking model is built to describe the periodicity of the movement of the feet in the spatial-temporal domain, and a mean-shift clustering technique in combination with spatial- temporal correlation analysis is applied to detect pedestrians. Based on the walking model, particle filter is employed to track multiple pedestrians. Compared with camera-based methods, our system provides a novel technique to track multiple pedestrians in a relatively large area. The experiments, in which over 300 pedestrians were tracked in 5 minutes, show the validity of the proposed system.
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