Detección y Seguimiento de Personas Basado en Estereovisión y Filtro de Kalman

Abstract

The people counting systems are widely used in surveillance applications. This article presents an application for counting people through a stereovision system. This system obtains counting rates of people moving through the counting area, distinguishing between input and output. To achieve this aim is required two basic steps: detection and tracking. The detection step is based on correlation through a pre-processed image with various circular patterns in order to search people's heads, filtering these detections by stereovision depending on the height. The people tracking is carried out through a multiple hypothesis algorithm based on the Kalman filter. Finally, people counting is done according to the trajectory followed by the person. To validate the algorithm have been used several real videos taken from different transit areas inside buildings, reaching rates ranging between 87% and 98% accuracy depending on the number of people crossing the counting zone simultaneously. In these videos occur several adverse situations, such as occlusions, people in groups in different directions, lighting changes, etc.