Human tracking based on integration of laser range scanners and cameras in intelligent space

This paper introduces human tracking system with decentralized laser range scanners and vision sensors in an intelligent space. Most of tracking systems with multiple networked sensors need any host computers for collecting and integrating measurements from all sensors. However, such a system is not desirable to make intelligent spaces of various sizes and shapes flexibly. In this paper, a human tracking system configured only distributed laser scanners and vision sensors without any host computers is described. In the case that target human is occluded, the laser scanner communicates to the other lasers scanner that is suitable for detecting occluded human, then stable human tracking is achieved without failure. Also, vision sensors are used for tracking three-dimensional human movements based on integrating with the laser based system. Some experimental results about laser based tracking and integration of vision and laser are shown in this paper.