文档介绍：Real-Time People Localization and Tracking
through Fixed Stereo Vision
S. Bahadori L. hi . Leone D. Nardi
L. Scozzafava
Dipartimento di Informatica e Sistemistica
University of Rome “La Sapienza”, Rome, Italy
E-mail {lastname}***@
May 16, 2006
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 in the field puter Vision
using different settings, such as monocular cameras, stereo sensors, multiple cameras.
In this article we describe a method for People Localization and Tracking (PLT)
based on a calibrated fixed stereo vision sensor, its implementation and experimental
results. The system analyzes ponents of the stereo data (the left intensity
image, the disparity image, and the 3-D world locations of measured points) to dynam-
ically update a model of the background; extract foreground objects, such as people
and rearranged furniture; track their positions in the world.
The system is mostly suitable for indoor medium size environments. It can reliably
detect and track people moving in an medium size area (a room or a corridor) in front
of the sensor with high reliability and good precision.
Keywords: People Tracking, Motion detection, Foreground/Background Segmenta-
tion, Stereo Vision.
1
1 Introduction
Localization and tracking of people in a dynamic environment is a key building block for
many applications, including surveillance, monitoring, and elderly assistance. The funda-
mental capability for a people tracking system is to determine the trajectory of each person
within the environment.
In recent years this problem has been primarily studied by using two different kinds of
sensors: i) markers placed on the person to transmit their real world