tracking the position of human targets

 

GUO Aibo, WANG Hong, ZHENG Xingwen, LI Muyan

(College of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China)

 

Abstract: Aiming at tracking human target′s position, the working principle of the twodimensional laser scanner was summed up, the algorithm of the analysis of data was  researched, an algorithm based on the technology of laser image scanning was designed. An elliptical model of the body′s shoulder was built up. distance, angle and azimuth information of human target were acquired, and displayed through Matlab GUI. A twodimensional scanning plane was formed thorugh twodimensional laser scanner used the rotating optical components, the function of regional scanning and profile measurement were realized. The results indicate that the position information of human target is acquired by laser scanner and have the basic agreement with the real position information,distance range is 0m~4m, the accuracy is better than 0.05m,scope of angle is 240°,angular tracking accuracy is better than 2°, azimuth range is 360°,azimuth accuracy is 1°, the algorithm can be applied to engineering applications such as mobile platforms or robots which need tracking human targets in real time.

Key words: laserscanning rangefinder; tracking; ellipse fitting; mixed programming; Matlab