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http://dx.doi.org/10.6109/jkiice.2019.23.3.247

Human Legs Stride Recognition and Tracking based on the Laser Scanner Sensor Data  

Jin, Taeseok (Department of Mechatronics Engineering, Dongseo University)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.23, no.3, 2019 , pp. 247-253 More about this Journal
Abstract
In this paper, we present a new method for real-time tracking of human walking around a laser sensor system. The method converts range data with $r-{\theta}$ coordinates to a 2D image with x-y coordinates. Then human tracking is performed using human's features, i.e. appearances of human walking pattern, and the input range data. The laser sensor based human tracking method has the advantage of simplicity over conventional methods which extract human face in the vision data. In our method, the problem of estimating 2D positions and orientations of two walking human's ankle level is formulated based on a moving trajectory algorithm. In addition, the proposed tracking system employs a HMM to robustly track human in case of occlusions. Experimental results using a real system demonstrate usefulness of the proposed method.
Keywords
Data fusion; Laser Sensor; Tracking; Stance; Probability;
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