Complementary human detection and multiple feature based tracking using a stereo camera

Abstract

A human detection and tracking method using a stereo camera is presented in this paper. Two human detection methods are independently implemented, and the results are combined to reduce misdetection and nondetection. The tracking step is based on particle filtering. In the data association phase, we introduce three features: distance, traveling direction, and color. The color feature is obtained from every segmented detection window. Eligibility and co-occurrence of the blocks provide robustness to occlusion. The proposed method is tested by using measurement data at the entrance of a building, where occlusion is frequently observed. The experiments demonstrate improved tracking performance over standard particle filtering.