Cost-efficient RGB-D smart camera for people detection and tracking

Marco Carraro; Matteo Munaro; Emanuele Menegatti

doi:10.1117/1.JEI.25.4.041007

27 April 2016 Cost-efficient RGB-D smart camera for people detection and tracking

Marco Carraro, Matteo Munaro, Emanuele Menegatti

Author Affiliations +

Journal of Electronic Imaging, Vol. 25, Issue 4, 041007 (April 2016). https://doi.org/10.1117/1.JEI.25.4.041007

Abstract

We describe a software library we developed for efficiently using the Kinect v2, a time-of-flight RGB-D sensor, with an embedded system, the NVidia Jetson TK1, as a cost-efficient RGB-D smart camera for people detection and tracking. The speed-up needed for achieving real-time operation has been obtained using NVidia CUDA to concurrently generate and process the raw depth and infrared data and to create the three-dimensional point cloud. This library has been released as open source and the smart camera has been tested in real-world scenarios, as a people-detection node in an open-source multinode RGB-D tracking system (OpenPTrack) and onboard a service robot for endowing it with robust people-following capabilities. Moreover, we show that nonembedded computers also can benefit from our library in terms of people-detection frame rate.

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Marco Carraro, Matteo Munaro, and Emanuele Menegatti "Cost-efficient RGB-D smart camera for people detection and tracking," Journal of Electronic Imaging 25(4), 041007 (27 April 2016). https://doi.org/10.1117/1.JEI.25.4.041007

Published: 27 April 2016

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