Approach based on geometric shape of pedestrian's head to shoulder region for human tracking in high density crowd using a 3D laser range finder

Abstract

This paper discusses the possibility of using the geometric shape of a pedestrian's head to shoulder region as a feature to identify individuals. The main aim is to track humans in a high density crowd using a 3D laser range finder (3D-LRF). One of the most critical problems of human tracking in a high density crowd is the occurrence of occlusion. Occlusion might occur because of the lack of features on tracking objects and the fragmentation of trajectories. When the trajectories are fragmented, they should be associated correctly in order to realize robust and accurate tracking. To improve the robustness of human tracking in a crowded environment, we consider features of a tracking object that can recognize individuals to be useful when combining trajectories fragmented by occlusion. In this paper, the geometric shape of a pedestrian's head to shoulder region was applied as a feature of a tracking object. The applicability of the feature to the tracking in dynamic environments was done through experiments using a 3D-LRF.