Detection and tracking of humans with a sparse network of LIDAR sensors

Heinrich Ruser; Konrad Wenzl; Christian Kargel

doi:10.1117/12.818637

19 May 2009 Detection and tracking of humans with a sparse network of LIDAR sensors

Heinrich Ruser, Konrad Wenzl, Christian Kargel

Proceedings Volume 7352, Intelligent Sensing, Situation Management, Impact Assessment, and Cyber-Sensing; 73520A (2009) https://doi.org/10.1117/12.818637
Event: SPIE Defense, Security, and Sensing, 2009, Orlando, Florida, United States

Abstract

The applicability of a sparse sensor network with only two sensor nodes and a small number of directional LIDAR sensors to detect and track humans in an area of surveillance is investigated. The detection and tracking performances are evaluated for various positions of the two nodes as a function of the number of sensors per node and the sensor beamwidths. A quality factor incorporating the area coverage ratio and the position error is introduced to find the best network configuration with a minimal number of sensors yielding a position accuracy sufficient for the task at hand. Extensive simulations and measurements with two laserscanners to emulate the LIDAR sensors were carried out for straight trajectories uniformly distributed over the area of surveillance. In order to improve the tracking performance, we used a Kalman filter based approach. As in our application a spatial mean RMS position error of approx. 0.6 m is sufficient, each of the two sensor nodes must be equipped with 4 LIDAR sensors with a -3dB-beamwidth of 12°.

Citation Download Citation

Heinrich Ruser, Konrad Wenzl, and Christian Kargel "Detection and tracking of humans with a sparse network of LIDAR sensors", Proc. SPIE 7352, Intelligent Sensing, Situation Management, Impact Assessment, and Cyber-Sensing, 73520A (19 May 2009); https://doi.org/10.1117/12.818637

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available