Observing passing people by using fiber grating vision sensor

Information obtained by using the monaural camera is 2D data. Therefore, it is difficult to get information of the person´s position, direction, and shape. Then, the sensor, which is able to obtain 3D data, is required. In this paper, we propose a method of observing the position, direction and shape of people by using 3D information. In this research, people´s 3D information is acquired using FG vision sensor, which has been developed by the authors. Position information, direction information and height information are detected by extracted a cylinder from 3D data. In this process, Hough transform is used to detect position, X-axis and Y-axis of ellipse of a cylinder. The tracking is carried out using the position and the height information in real-time.