Human Localization in a Cluttered Space Using Multiple Cameras

Abstract

The use of single and dual-camera approaches tolocating a subject in a 3-D cluttered space is investigated.Specifically, we investigate the case where the lowerportion of the body may be occluded, e.g., by a chair on abus. Experiments were conducted involving elevensubjects moving along a pre-designated route within acluttered space. For each time instant the position of eachsubject was manually estimated and compared to thatproduced automatically. The dual camera approach wasfound to give significantly better performance than thesingle camera approach. It was found that inaccuratebounding of the lowest part of the subject, due toocclusion, led to localisation errors in range as large as10m for the latter. Using the side bounds of the detectedobject, which were found to be robust, accurate azimuthestimates can be obtained for a single camera. The dualcameraapproach exploits the greater degree of accuracyin azimuth to estimate the range through triangulation,giving average localisation errors of 40cm over the spaceof interest.