2006 Fiscal Year Final Research Report Summary
Detecting the moving objects of special trajectories by fusing laser range scanners and video cameras
| Project/Area Number |
17300057
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | The University of Tokyo |
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Principal Investigator |
ZHAO Huijing Univ. of Tokyo, Center for Spatial Information Science, Visiting Associate Professor, 空間情報科学研究センター, 外国人客員教授 (80396796)
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| Co-Investigator(Kenkyū-buntansha) |
SHIBASAKI Ryosuke Univ. of Tokyo, Center for Spatial Information Science, Professor, 空間情報科学研究センター, 教授 (70206126)
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| Project Period (FY) |
2005 – 2006
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| Keywords | laser scanner / moving object / tracking / detection / classification / behavior analysis / video camera |
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| Research Abstract |
In this two years project, the following results are achieved.
1. Algorithms for moving objects' detection, tracking and classification using laser scan data.
The topic is studied in two levels. 1) In the environment such as an intersection, where different kinds of moving objects exist, an algorithm is developed for joint detection, tracking and classification of moving objects using laser scan data. 2) In the environment where there are pedestrians only, in order to precisely detected walking pattern, and estimate walking trajectories, a detailed walking model is defined, and algorithms of tracking pedestrians in dense crowded situations using particle filter are studied.
2. Algorithms for fusing laser with vision. It includes the following sub-topics : 1) extracting image attribute; 2) matching for the same person, 3) laser and video based tracking.
In the case of dense crowded situation, there are limitations in precise tracking based only on laser data. Also laser-based tracking can n
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ot obtain the other information except the sequence of XY coordinates. So that a measurement system by fusing laser with vision, an algorithm of extracting image attributes, an algorithm of matching on both trajectory and image attributes to look for the same moving objects, and a tracking by fusing both laser and vision are developed.
3. Behavior analysis - looking for special trajectories. It includes the following sub-topics : 1) walking parameters extraction and gait recognition, 2) personal behavior analysis, 3) group behavior analysis.
A detailed walking model is defined, the walking parameters such as stride, speed and acceleration of both feet are extracted, an algorithm is developed to recognize personal gait characteristics based on the above walking parameters. On the other hand, personal walking behavior is studied based on both gait and trajectory parameters. An algorithm is developed to divide the personal behaviors into normal and abnormal ones. In addition, algorithm is developed to find the main streams from the mass of trajectories, and an application of the results for advanced air-conditioning control is proposed and tested on simulation.
4. A number of field experiments are conducted to acquire real data. All the algorithms in this project are developed and examined on the true data and aiming for true applications. Less
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[Journal Article] Tracking pedestrians using multiple single-row laser range scanners and its reliability evaluation2006
Author(s)
Nakamura, K., Zhao, H., Shibasaki, R., Sakamoto, K., Ohga, T., Suzukawa, N.
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Journal Title
Systems and computers in Japan vol.37, no. 7
Pages: 1-11
Description
「研究成果報告書概要(和文)」より
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[Journal Article] Tracking pedestrians using multiple single-row laser range scanners and its reliability evaluation2006
Author(s)
Nakamura, K., Zhao, H., Shibasaki, R., Sakamoto, K., Ohga, T., Suzukawa, N.
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Journal Title
Systems and computers in Japan vol.37, no.7
Pages: 1-11
Description
「研究成果報告書概要(欧文)」より
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