RGB-Dカメラを用いた人の図心推定と追跡

抄録

In this paper, we use an RGB-D camera to estimate and track the centroid of a person. In order for a robot to run safely in the crowd, it is important to recognize and track people with high accuracy, and the RGB-D camera is suitable for human tracking because it can not only recognize people with high accuracy based on images but also obtain distance information of the recognized people. The proposed method improves the performance of centroid estimation and tracking by removing noise from the distance information and considering the motion model of the person. The effectiveness of the proposed method is demonstrated by comparing the estimated position and labeling of a person with the true values in an experiment of simultaneous tracking of multiple persons.