Automatic Person Detection and Tracking using Fuzzy Controlled Active Cameras

This paper presents an automatic system for the monitoring of indoor environments using pan-tilt-zoomable cameras. A combination of Haar-feature classifier-based detection and color histogram filtering is used to achieve reliable initialization of person tracks even in the presence of camera movement. A combination of adaptive color and KLT feature trackers for face and upper body allows for robust tracking and track recovery in the presence of occlusion or interference. The continuous recomputation of camera parameters, coupled with a fuzzy controlling scheme allow for smooth tracking of moving targets as well as acquisition of stable facial close ups, similar to the natural behavior of a human cameraman. The system is tested on a series of natural indoor monitoring scenarios and shows a high degree of naturalness, flexibility and robustness.