This paper proposes a new device to capture dense point cloud of human contour using horizontal LIDAR and vertical LIDAR with mirrors on pan rotational mechanism. This paper also reports a new method to estimate simple behavior such as standing and sitting online from only single vertical scan data. The combination of rotation mechanism and vertical LIDAR enlarge measurement area to overall room. Both mirrors use and pan rotation control enhance density of point cloud. The horizontal LIDAR provides robust tracking of human without missing. The experiments about performance of the device and the method demonstrated that our device and method contain sufficient feasibility to monitor human behavior in human living environments. The authors also demonstrated online recognition of simple human behavior such as standing and sitting from only single vertical scan points using pattern recognition technique.
2014 The Society of Instrument and Control Engineers