Human Tracking Research Papers - Academia.edu (original) (raw)

Collaborative tasks between human operators and robotic manipulators can improve the performance and flexibility of industrial environments. Nevertheless, the safety of humans should always be guaranteed and the behaviour of the robots... more

Collaborative tasks between human operators and robotic manipulators can improve the performance and flexibility of industrial environments. Nevertheless, the safety of humans should always be guaranteed and the behaviour of the robots should be modified when a risk of collision may happen. This paper presents the research that the authors have performed in recent years in order to develop a human-robot interaction system which guarantees human safety by precisely tracking the complete body of the human and by activating safety strategies when the distance between them is too small. This paper not only summarizes the techniques which have been implemented in order to develop this system, but it also shows its application in three real human-robot interaction tasks.

This research developed an application that could tracks and locates human's presence and position in indoor environment using multiple depth-cameras. Kinect as the most affordable device that equipped with depth- camera was used in... more

This research developed an application that could tracks and locates human's presence and position in indoor environment using multiple depth-cameras. Kinect as the most affordable device that equipped with depth- camera was used in this work. The application obtains stream data from Kinect and analyzes presence of human using skeletal tracking library on Kinect for Windows SDK v1. The final

This research developed an application that could tracks and locates human's presence and position in indoor environment using multiple depth-cameras. Kinect as the most affordable device that equipped with depth- camera was used in... more

This research developed an application that could tracks and locates human's presence and position in indoor environment using multiple depth-cameras. Kinect as the most affordable device that equipped with depth- camera was used in this work. The application obtains stream data from Kinect and analyzes presence of human using skeletal tracking library on Kinect for Windows SDK v1. The final

Abstract. Humanoid class robots must have sufficient dexterity to assist people and work in an environment designed for human comfort and productivity. This dexterity, in particular the ability to use tools, requires a cognitive... more

Abstract. Humanoid class robots must have sufficient dexterity to assist people and work in an environment designed for human comfort and productivity. This dexterity, in particular the ability to use tools, requires a cognitive understanding of self and the world that exceeds ...

The purpose of this paper is to investigate the problem of 3D human tracking in complex environments using a particle filter with images captured by a catadioptric vision system. This issue has been widely studied in the literature on RGB... more

The purpose of this paper is to investigate the problem of 3D human tracking in complex environments using a particle filter with images captured by a catadioptric vision system. This issue has been widely studied in the literature on RGB images acquired from conventional perspective cameras, while omnidirectional images have seldom been used and published research works in this field remains limited. In this study, the Riemannian varieties was considered in order to compute the gradient on spherical images and generate a robust descriptor used along with an SVM classifier for human detection. Original likelihood functions associated with the particle filter are proposed, using both geodesic distances and overlapping regions between the silhouette detected in the images and the projected 3D human model. Our approach was experimentally evaluated on real data and showed favorable results compared to machine learning based techniques about the 3D pose accuracy. Thus, the Root Mean Squa...

This paper presents a robust and computationally efficient method for human detection and tracking. The unique feature of this method is that it has dedicated threads for human detection and camera control for human tracking. Moreover, it... more

This paper presents a robust and computationally efficient method for human detection and tracking. The unique feature of this method is that it has dedicated threads for human detection and camera control for human tracking. Moreover, it works with infra-red on and infra-red off. The method consists of five parts – training image acquisition, background subtraction, feature extraction, system training, and system testing. Firstly, some sample video clips have been taken with an IP camera for initial system implementation. The clips are then filtered to separate background and foreground. After that, some morphological operations are carried out to identify the most significant motion in the foreground. Those parts are cropped with some extra area and used to train a multiclass support vector machine (SVM) along with an image subset of the people detection dataset of The National Institute for Research in Computer Science and Control (French: Institut National de Recherche en Inform...

Work partially supported by the Spanish Goverment under project TEC2011-25995 (EventVideo). The main objective of this master thesis is the evaluation of video tracking algorithms. A protocol is designed for such evaluation task including... more

Work partially supported by the Spanish Goverment under project TEC2011-25995 (EventVideo). The main objective of this master thesis is the evaluation of video tracking algorithms. A protocol is designed for such evaluation task including the following aspects: accuracy, robustness to initialization errors, computational cost and optimum parametrization. In order to support the evaluation, a dataset is defined considering the most common problems in video tracking. Finally, the proposed protocol is tested on representative approaches of the state-of-the-art. Resumen El objetivo principal de este PFC es la evaluación de diferentes algoritmos de seguimiento de objetos. Para realizar dicha evaluación se ha diseñado un protocolo que evaluará los siguientes aspectos: precisión, robustez a errores de inicializacion, coste computacional y parametrización óptima. Por otro lado, se ha diseñado y creado un dataset completo que incluye algunos de los problemas más comunes en seguimiento de obj...

In this paper we present the design details of the visual perception system in Aware Home. This paper is intend to (a) detail our design details; (b) provide insights on how different parts of the tracking system are inter-related to... more

In this paper we present the design details of the visual perception system in Aware Home. This paper is intend to (a) detail our design details; (b) provide insights on how different parts of the tracking system are inter-related to solve complex perception tasks; (c) document ideas and potential research directions; (d) provide performance evaluation. This work will primarily focus on algorithm and design issues, while another Technical Report will be authored to address coding issues related to this system (APIs, class structures, etc).

In this paper we provide a study about crime scenes and its features used in criminal investigations. We argue that the crime scene provides a large set of features that can be used to corroborate the conclusions emitted by the experts.... more

In this paper we provide a study about crime scenes and its features used in criminal investigations. We argue that the crime scene provides a large set of features that can be used to corroborate the conclusions emitted by the experts. We also propose a set of features to classify the violent crime considering two classes: attack from inside or outside of the scene. The classification stage is based on conventional MLP (Multiple-Layer Perceptron) Neural Network and SVM (Support Vector Machine). The experimental results reveal an error rate of 30.3% (MLP), 22.8% (SVM-linear), and 19.4% (SVM-polynomial) using a database composed of 400 crime scenes. This paper presents an experiment based on a stereoscopic projection that allows to experts analyze and take decisions about the crime scene and its dynamic.

This paper presents methods for moving object detection in airborne video surveillance. The motion segmentation in the above scenario is usually difficult because of small size of the object, motion of camera, and inconsistency in... more

This paper presents methods for moving object detection in airborne video surveillance. The motion segmentation in the above scenario is usually difficult because of small size of the object, motion of camera, and inconsistency in detected object shape etc. Here ...

This paper presents a system for moving object exposure, focusing on pedestrian detection, in external, unfriendly, and heterogeneous environments. The system manipulates and accurately merges information coming from subsequent video... more

This paper presents a system for moving object exposure, focusing on pedestrian detection, in external, unfriendly, and heterogeneous environments. The system manipulates and accurately merges information coming from subsequent video frames, making small computational efforts in each single frame. Its main characterizing feature is to combine several well-known movement detection and tracking techniques, and to orchestrate them in a smart way to obtain good results in diversified scenarios. It uses dynamically adjusted thresholds to characterize different regions of interest, and it also adopts techniques to efficiently track movements, and detect and correct false positives. Accuracy and reliability mainly depend on the overall receipt, i.e., on how the software system is designed and implemented, on how the different algorithmic phases communicate information and collaborate with each other, and on how concurrency is organized. The application is specifically designed to work with...

Industrial growth has increased the number of jobs hence increase the number of employees. Therefore, it is impossible to track the location of all employees in the same building at the same time as they are placed in a different... more

Industrial growth has increased the number of jobs hence increase the number of employees. Therefore, it is impossible to track the location of all employees in the same building at the same time as they are placed in a different department. In this work, a real-time indoor human tracking system is developed to determine the location of employees in a real-time implementation. In this work, the long-range (LoRa) technology is used as the communication medium to establish the communication between the tracker and the gateway in the developed system due to its low power with high coverage range besides requires low cost for deployment. The received signal strength indicator (RSSI) based positioning method is used to measure the power level at the receiver which is the gateway to determine the location of the employees. Different scenarios have been considered to evaluate the performance of the developed system in terms of precision and reliability. This includes the size of the area, ...

This research developed an application that could tracks and locates human's presence and position in indoor environment using multiple depth-cameras. Kinect as the most affordable device that equipped with depth- camera was used in... more

This research developed an application that could tracks and locates human's presence and position in indoor environment using multiple depth-cameras. Kinect as the most affordable device that equipped with depth- camera was used in this work. The application obtains stream data from Kinect and analyzes presence of human using skeletal tracking library on Kinect for Windows SDK v1. The final