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Abstract Recently, tracking and counting people are and so on. Shulz et al. investigated a method to make use of
requested for the security purpose. In this paper, we propose a Laser Range Finder for people tracking with sample-based
method to track and count people with Laser Range Finders. A joint probabilistic data association filter [3]. Zhao et al.
method to extract the walking human from the sensor data is proposed a method to track people with Laser Range Finders
introduced. Multi-target model and Kalman filter based
scanning the human feet in indoor environment [4, 6]. Lee et
estimation are employed to track the human movement and
count the number of people. The proposed method is applied to a al. investigated a Kalman filtering based algorithm to track
novel system to monitor the entrance area and to filter out the walking people using a robot in motion with Laser Range
trespasser who enters the door without identification. Finder which scans the human legs. Most of previous
Experiments for various cases are performed to verify the researches were focused on a method to track moving humans
usefulness of developed proto-type system. using Laser Range Finders. However, the example of security
application has been rarely found. So this paper suggests a
Index Terms Security System, Laser Range Finder, Human new approach to exploit people tracking technique using Laser
Tracking. Range Finder for development of security door system.
As a previous work for security application, the authors
I. INTRODUCTION have investigated a method to monitor people who pass
Security systems in order to prevent trespasser coming into through the entrance area by scanning human waist [8]. In this
guard area have been developed actively and used lots of areas paper, security door system to prevent trespasser is developed.
recently. However, the current entrance control systems have Multi-target tracking technology of the previous study is
limitation that cannot block un-identified trespassers coming utilized in development of security door system. The main
into the door with another identified person. In order to solve purpose of this research is to improve the performance of
the problem, a new method using tracking technology with security gate. The principal difference of the security door
Laser Range Finder is proposed in this paper. system from a general automatic door is the existence of
To monitor the current position and the motion history of identification device such as RFID or fingerprints recognition.
humans in the space of interest is one of the essential issues of The open problem of the existing security door system with
ambient intelligence technology including service and security identification device is that a trespasser passing through the
for human daily life [9,10]. So far, motion analysis with vision door, while another certificated person goes through it, cannot
data using camera has been a general method to collect the be detected and controlled. To cope with this problem, the
motion information of moving objects including human. proposed system employed a method to track every people
However, the performance of vision-based technique is very passing through the door always. Therefore, in the case that
sensitive to the condition of camera setting such as view point there appears any trespasser, the system can provide alarm or
and angle of camera, image pixels and so on. Moreover the proper information. Thus multiple Laser Range Finders set
common change of illumination and weather condition are into the environment are utilized as device to detect people
another major obstacle to the reliability and robustness of pass through the entrance. Multi-target model and Kalman
vision system. Applications of vision-based object tracking filter-based estimation method [2] are employed to track the
have been confined to the extraction of a small number of human movement and count the number of people in the front
objects in limited environments till now [1]. of door. Experiments for various cases of tracking and
Laser Range Finder has been developed as a new sensor counting people are performed to verify the usefulness of the
technology measuring range distance from sensor to target proposed approach.
object. Recently, its applications in the field of detecting and The organization of this paper is as follows. We explain a
tracking moving objects are going on increasing [3,4,6-8]. In method how to detect human with multiple Laser Range
the sense of people tracking for ambient intelligence, the Finder in Section II. Kalman filtering based tracking algorithm
method using Laser Range Finder has many merits in data with multi-target model is discussed in Section III. In Section
manipulation, robustness to environmental condition, the IV, system development and experiments will be shown to
number of tracking people, resolution in distance information,
x x p 2 rc cos( + )
=y + (1)
y p 2 rc sin( + )
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this paper. The positions of sensors are decided by some the historical paths of the human objects. The human objects
experiments and consideration of the circumstances of the move in scanning area with their random velocities. Some of
region of interest. However, if we use two Laser Range them are detected continuously (tracking) and some of them
Finders, some objects could sometimes be detected by both may not be detected sometimes because of occlusion between
sensors as displayed in Fig. 3. Besides, according to the them (occlusion). And some objects come into the scanning
configuration of sensors and the geometric difference of area from time to time (appearance), and some of them go out
clusters, there could be a little error between the positions and wont be detected (disappearance). Therefore, the objects
computed by two sensors. For example, Obj. 3 in Fig. 3 is in scanning area go through and repeat the process of
detected by both sensors. However, some error is observed appearance, tracking, occlusion, and disappearance.
between two positions computed by the data from both
sensors, which are denoted by and . Therefore, if the B. Modeling of Human Object
distance between the centers of two clusters is smaller than the We used a discrete human model in which human object is
average diameter of human waist, they are considered as one considered as a moving point on the ground. Following
cluster. human model is utilized in Kalman Filtering to estimate the
state of human object. The state vector x consists of position
and velocity of human body center such that
xt (k + 1) = F t x t (k ) + wt (k + 1) , (3)
1 0 T 0
0 1 0 T
Ft = . (4)
Fig. 3 Detecting multi-human object using multi-SOKUIKI sensors 0 0 1 0
0 0 0 1
z t (k + 1) = H t x t (k + 1) + t (k + 1) , (5)
1 0 0 0
Ht = . (6)
0 1 0 0
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2) Finding Body Center Position: Next, as described in interest, control the door, capture the image around the door,
Section II, the center position of human body is computed by and make alarm in the case of emergency.
considering the geometric feature of cluster. Generally, security door just consists of ID check device
3) Eliminating Extra Body Candidates: When we employ and automatic door. Well-known method to use that door is
more than one sensor, candidates of the number of sensors firstly to check ID and then step in the door if certificated.
could be detected for one human object. Therefore, extra body RFID or fingerprint recognition is usual certification method.
candidates are eliminated according to the distance between However, there are additional components in the proposed
two body candidates. If the center positions of two body system such as Laser Range Finders. They scan the
candidates exist in an area of one human body, one of them surrounding of door and detect people who pass through door.
will be eliminated. Usually, for one human object, two body Fig. 6 displays the diagram of operating process for the
candidates are created from two Laser Range Finders. proposed system. If a person who enters the door is
However, because of occlusion, sometimes just one body certificated with his RFID card and inputs the number of
candidate also could be detected. people entering together, then the system counts the number
4) Connecting Body Candidates to Current Human of people in the region of interest and checks whether both
Objects: Human objects having been tracked until previous numbers are the same or not. If the input number is
scanning are connected to current body candidates to be coincident with the count number from the system, the door
utilized as measurements for position estimation process. will be opened. While they pass through the door, the system
Here, we employed a hybrid scheme including the sense of monitors whether any trespasser without certification comes
minimum distance and the validation region which can be in together or not. The system will alarm or take a picture to
represented by the following equation. save the scene in the case that any trespasser exists in the
region of interest.
(k + 1) S 1 (k + 1) (k + 1) . (7)
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and tracking situation.
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reader for identification, the system recognizes the personal ID V. CONCLUSION
and which person contacted the RFID reader, by considering
In this paper, a new algorithm to track and count people is
the positional relationship between the RFID reader and
proposed, and a security door system using the proposed
human objects having been tracked. We could observe that the
method to detect trespasser around entrance was developed.
proposed system also showed good performance of tracking
Multiple Laser Range Finders are employed to detect the
and identification in long time experiments of various
people passing a door. Multi-target tracking technology with
situations.
Kalman filter was applied to track human objects in motion
and count their number in the region of interest. Motion model
D. Development of the Security Door System
and geometric feature of human is also considered for
A real system with the proposed methodology is
detecting the walking humans. Experiments for various cases
developed and installed in the entrance of our laboratory as
of tracking and counting people are performed to verify the
displayed in Fig. 9. Fig. 10 shows the monitoring program for
availability for security application. Also, a real system is
tracking and counting people to enter the door. It consists of
developed and installed into the real environment.
monitoring window showing tracking situation and scanning
As a future work, an approach using additional sensors
data, operating panel to control condition of the system, and
such as camera or extra Laser Range Finders could be a
the number of people in the tracking area. The system is in the
solution to extend the proposed method to applications to
state of check for long time operation in various situations.
count more people.
ACKNOWLEDGMENT
The authors acknowledge T. Mori, and N. Shimaji of
Hokuyo Corporation for their collaboration in preparing this
paper and supporting experimental devices.
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Fig. 10 The monitoring program for the security door system [11]Hokuyo Corporation, http://www.hokuyo-aut.co.jp
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