TY - GEN
T1 - People tracking with body pose estimation for human path prediction
AU - Ratsamee, Photchara
AU - Mae, Yasushi
AU - Ohara, Kenichi
AU - Takubo, Tomohito
AU - Arai, Tatsuo
PY - 2012
Y1 - 2012
N2 - Prediction and observation of human motion are essential functions for robots co-existing with humans in everyday environments. We propose a people motion tracking and prediction approach by using the advantage of detailed 3D information about the positions of body joints. Using the shoulder position displayed in a geometrical skeleton diagram of a human's upper body part, the body pose from the proposed human kinematic model is estimated. Human motion tracking and path prediction are achieved via the extended Kalman Filter. The proposed method is verified in an indoor environment where humans pass by each other. Experiment results demonstrate that walking people and their body pose are robustly tracked and predicted accurately, with less occlusions compared to traditional human tracking.
AB - Prediction and observation of human motion are essential functions for robots co-existing with humans in everyday environments. We propose a people motion tracking and prediction approach by using the advantage of detailed 3D information about the positions of body joints. Using the shoulder position displayed in a geometrical skeleton diagram of a human's upper body part, the body pose from the proposed human kinematic model is estimated. Human motion tracking and path prediction are achieved via the extended Kalman Filter. The proposed method is verified in an indoor environment where humans pass by each other. Experiment results demonstrate that walking people and their body pose are robustly tracked and predicted accurately, with less occlusions compared to traditional human tracking.
KW - body pose
KW - path prediction and shoulder tracking
UR - http://www.scopus.com/inward/record.url?scp=84867590078&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2012.6285114
DO - 10.1109/ICMA.2012.6285114
M3 - Conference contribution
AN - SCOPUS:84867590078
SN - 9781467312776
T3 - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
SP - 1915
EP - 1920
BT - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
T2 - 2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
Y2 - 5 August 2012 through 8 August 2012
ER -