Moving people detection in dynamic scenes by stereo vision

Tao Zhuo; Yanning Zhang; Tao Yang; Xiaoqiang Zhang

doi:10.1007/978-3-642-31919-8_65

Moving people detection in dynamic scenes by stereo vision

Tao Zhuo, Yanning Zhang, Tao Yang, Xiaoqiang Zhang

School of Computer Science

Northwestern Polytechnical University Xian

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Robust people localization on a moving robot platform is an important and challenge research topic. In this paper, we present a novel moving people detection approach and system on a mobile robot platform. The proposed method mainly contains two parts: (1) A Histograms of Oriented Gradients (HOG) based detector is adopted to detect the human candidates in the dynamic scene; (2) Geometric constraints are computed to handle the ghost problem, including the depth information from a stereo camera and the external parameters of the camera calibration. To evaluate the proposed approach, a robust people detection system is developed on a moving robot platform. Extensive experiment results with challenge indoor and outdoor scenarios demonstrate the robustness and efficiency of our approach.

Original language	English
Title of host publication	Intelligent Science and Intelligent Data Engineering - Second Sino-Foreign-Interchange Workshop, IScIDE 2011, Revised Selected Papers
Pages	506-512
Number of pages	7
DOIs	https://doi.org/10.1007/978-3-642-31919-8_65
State	Published - 2012
Event	2nd Sino-Foreign-Interchange Workshop on Intelligent Science and Intelligent Data Engineering, IScIDE 2011 - Xi'an, China Duration: 23 Oct 2011 → 25 Oct 2011

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	7202 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	2nd Sino-Foreign-Interchange Workshop on Intelligent Science and Intelligent Data Engineering, IScIDE 2011
Country/Territory	China
City	Xi'an
Period	23/10/11 → 25/10/11

Keywords

Histograms of Oriented Gradients
moving people detection
stereo vision

Access to Document

10.1007/978-3-642-31919-8_65

Cite this

Zhuo, T., Zhang, Y., Yang, T., & Zhang, X. (2012). Moving people detection in dynamic scenes by stereo vision. In Intelligent Science and Intelligent Data Engineering - Second Sino-Foreign-Interchange Workshop, IScIDE 2011, Revised Selected Papers (pp. 506-512). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7202 LNCS). https://doi.org/10.1007/978-3-642-31919-8_65

Zhuo, Tao ; Zhang, Yanning ; Yang, Tao et al. / Moving people detection in dynamic scenes by stereo vision. Intelligent Science and Intelligent Data Engineering - Second Sino-Foreign-Interchange Workshop, IScIDE 2011, Revised Selected Papers. 2012. pp. 506-512 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@inproceedings{987f87a4ef994d219c774e7c0db6dde4,

title = "Moving people detection in dynamic scenes by stereo vision",

abstract = "Robust people localization on a moving robot platform is an important and challenge research topic. In this paper, we present a novel moving people detection approach and system on a mobile robot platform. The proposed method mainly contains two parts: (1) A Histograms of Oriented Gradients (HOG) based detector is adopted to detect the human candidates in the dynamic scene; (2) Geometric constraints are computed to handle the ghost problem, including the depth information from a stereo camera and the external parameters of the camera calibration. To evaluate the proposed approach, a robust people detection system is developed on a moving robot platform. Extensive experiment results with challenge indoor and outdoor scenarios demonstrate the robustness and efficiency of our approach.",

keywords = "Histograms of Oriented Gradients, moving people detection, stereo vision",

author = "Tao Zhuo and Yanning Zhang and Tao Yang and Xiaoqiang Zhang",

year = "2012",

doi = "10.1007/978-3-642-31919-8_65",

language = "英语",

isbn = "9783642319181",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

pages = "506--512",

booktitle = "Intelligent Science and Intelligent Data Engineering - Second Sino-Foreign-Interchange Workshop, IScIDE 2011, Revised Selected Papers",

note = "2nd Sino-Foreign-Interchange Workshop on Intelligent Science and Intelligent Data Engineering, IScIDE 2011 ; Conference date: 23-10-2011 Through 25-10-2011",

}

Zhuo, T, Zhang, Y, Yang, T & Zhang, X 2012, Moving people detection in dynamic scenes by stereo vision. in Intelligent Science and Intelligent Data Engineering - Second Sino-Foreign-Interchange Workshop, IScIDE 2011, Revised Selected Papers. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 7202 LNCS, pp. 506-512, 2nd Sino-Foreign-Interchange Workshop on Intelligent Science and Intelligent Data Engineering, IScIDE 2011, Xi'an, China, 23/10/11. https://doi.org/10.1007/978-3-642-31919-8_65

Moving people detection in dynamic scenes by stereo vision. / Zhuo, Tao; Zhang, Yanning; Yang, Tao et al.
Intelligent Science and Intelligent Data Engineering - Second Sino-Foreign-Interchange Workshop, IScIDE 2011, Revised Selected Papers. 2012. p. 506-512 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7202 LNCS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Yang, Tao

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AB - Robust people localization on a moving robot platform is an important and challenge research topic. In this paper, we present a novel moving people detection approach and system on a mobile robot platform. The proposed method mainly contains two parts: (1) A Histograms of Oriented Gradients (HOG) based detector is adopted to detect the human candidates in the dynamic scene; (2) Geometric constraints are computed to handle the ghost problem, including the depth information from a stereo camera and the external parameters of the camera calibration. To evaluate the proposed approach, a robust people detection system is developed on a moving robot platform. Extensive experiment results with challenge indoor and outdoor scenarios demonstrate the robustness and efficiency of our approach.

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KW - stereo vision

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Zhuo T, Zhang Y, Yang T, Zhang X. Moving people detection in dynamic scenes by stereo vision. In Intelligent Science and Intelligent Data Engineering - Second Sino-Foreign-Interchange Workshop, IScIDE 2011, Revised Selected Papers. 2012. p. 506-512. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-642-31919-8_65

Moving people detection in dynamic scenes by stereo vision

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