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Indoor human detection and tracking method based on RGB-D under low viewing angle

A technology of human body detection and perspective, applied in image data processing, instruments, calculations, etc., can solve problems such as feature loss, difficulty in human detection and tracking, and distinguish between human bodies and other objects, and achieve the effect of improving accuracy.

Active Publication Date: 2018-12-18
ZHONGBEI UNIV
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AI Technical Summary

Problems solved by technology

It is very difficult to detect and track human beings at low viewing angles, mainly because some main features are lost, and there are no obvious features to distinguish human bodies from other objects. For example, corresponding features cannot be used to distinguish table legs, chairs, etc. from human bodies distinguish

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Embodiment Construction

[0038]In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0039] Such as figure 1 As shown, an indoor human detection and tracking method based on RGB-D low viewing angle, including the following steps,

[0040] Step a. Data collection and processing

[0041] Such as figure 2 As shown in the figure, ASUS Xtion Pro is used for point cloud collection to obtain a dense 3D point cloud. Due to different error sources, especially the discretization effect in the depth measurement and the fact that the camera is calibrated within a certain range, there is a lot of noise in the acquired initial RGB-D point cloud, while each fr...

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Abstract

The invention relates to a method indoor human body detection and tracing method under the condition of RGB-D low angle of view, belonging to the technical field of human body detection, Specifically,the following steps are included, using Asustek Xtion Pro to collect point clouds, so that 3D point cloud is obtained, 3-D point cloud is denoised and desampled, and detecting and removing the ground, and then 3D clustering is carried out by using the Euclidean distance between two points, by calculating the HOG features of each cluster and feeding them to the pre-trained SVM binary soft classifier, those with high HOG characteristics are classified as human beings, so as to achieve the purpose of human detection. Finally, human body tracking is realized by using the two likelihood probabilities composed of color consistency and distance consistency in the data coherence process. The invention has high precision and is widely used for indoor human body detection and tracking under the condition of low viewing angle.

Description

technical field [0001] The invention relates to an indoor human body detection and tracking method based on RGB-D low viewing angle, and belongs to the technical field of human body detection. Background technique [0002] Human detection and tracking are key for mobile robots to perform tasks in indoor environments. For a mobile robot, it must be able to distinguish between a human body and other obstacles in order to adapt its trajectory to its task. For example, service robots must provide assistance to specific people in specific environments. [0003] At present, there are some methods to realize human detection and tracking by simply using RGB-D depth camera or radar ranging. With the emergence of RGB-D depth cameras, such as Microsoft Kinect or ASUS Xtion Pro, which can capture images of 640×480 pixels at a rate of 30 frames / s, and because of its advantages such as low energy consumption, it has been widely used in recent years. It is widely used in the fields of 3...

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Application Information

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IPC IPC(8): G06T7/246
CPCG06T2207/10028G06T2207/30196G06T7/251
Inventor 袁泽慧段荣杰安晓红李世中张亚
Owner ZHONGBEI UNIV
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