複雑背景における人の追跡

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(1)コンピュータビジョンと 128−11 イメージメディア（２００１．７．６）. KLMNQOPSTRUV WGXY [_[a[aH]aedIgil\b`]aZ^ m 565-0871 [_nkfjhfc 2-1 9{º9Ë§þò ¬Â:L¾jÂ¤µ²¾·µ¶ÆäçJ¦¾ 4«Þ¦¶z³´/<¬4¬a ¬:L¶¬u«»£¦z¬º¾ ú<¾4¶»¯z«u¾4¬:LÂµ²¾·Æäç¬ÛëÕÁè×Â 4«Þ¦¶ÅàÕÁÆèßê¼¶l)¶¾ª©ÂV¶4Á¾12¶»¯ ò Æäç¬o6«»¾:LÂµ²¾·. Human Tracking in Complex Environment. Yoshiaki Shirai Dept.of Computer-Controlled Mechanical Systems, Osaka University 2-1 Yamadaoka,Suita,osaka 565-0871,Japan This paper describes methods of human tracking in a variety of conditions. Using a stationary camera, the following tracking conditions are described: tracking of many persons in a city street, that of a few persons in a corridoor whose color is in uenced by the walking persons, and that of persons in a background which contains random motions. In case of human tracking with an active camera systems, integration of optical ow, range data, and uniform brightness regions are described. Finally coordination of multiple cameras are described for tracking a person with heavy occlusions, and for identifying persons.. 1. >;?<. ¬:L¶¬åÙÐ¼ºÙª©¬8 N?ª8$&Ë«¹¶¬ÍÄÎÒæº# ¬~¡ºà~¡¬ ¸¬S6(¨¦¹ Á¿¾·¬jò¼1ªÁ¿¦¾ ¶ sÅëçÂë6(Aª(ý £¦¾ ¸¶a ¬j¾· ¬:LÂ/¬uób:L¨åÒ ¨ ¬y5¶ ÆCÂ¶ 1úÁ¾½u¦ §ÛºªÆC¬¶¶â¼è 1/ <¾ æ3b¶ÞPób§¾·. uÄYÂ$¾¬:L¶¬u¬" Â$¾¨§¾ ¸¶ 1 ¬JÄ Y¼Â ¤¾¨8|ª4§¹S õÞw¼ÂM½´¾A$¾·: L¬«»£¦æ«Ú)§¶§«¤ $<¦¾¹¬¹¾. ¶¬M½ ´|4«¶&S¨¦8|ª g¿¦¾· ¬¨ª:L¬&;¬»«ª¾· c¹ ò º ¬²ª½º ób« »¾1¿º ,ñ¬¬"ðº u1¹ 8R3uº {3uº Þ Puº. −81− 1.

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(11) èH/#..¨¶½2¾±¾· ª¶ [14] · {z 16 ñ¬ DSP Â$ ¤Ý:L¬1Â 6«·v (a) è« HÂ¤ 5.2.3. H¡. ßê¼«»¾®&. ßê¼¡ H«»¾®& 6: z¬H¾ßê¼0¬ 4¬:L1 óbz«½¶H¼tù§ª §¶ (b) §èßê¼..¼Â i¸¦¾·µ ¶v (c) §è« ßê¼Â¤óbè¬s3«_¦ ½¶ßê¼¡§tù§ª¶ (d) § èH/#..Â$¦Ý¬..Âx ¦¾· 6 NS<@BWX ò ¬ÆäçÂ$ :L«¤¦¹#» ªª2=%¿¦¾·¬/¤«ò ¬ ÆäçÂ¶z ô«»½:L¿ Ý¬'0Âi¸¾ª2¾ [15]·¿ z ôÂ$¦¾¬§¶z¬ú<«c8 ¾¨|·µ ò ¬Æäç§¶ z ô«»£¦2´ ób..¼!È è{'0Âi¸¾¨«»¾:L [16] ¹. ¾·¬ò ¬Æäç¼¬I48R¬÷ D«c¾ f¹¬¶:LÂ£ ¦¾¨,¦¾· ¬Æäç` ¬óbÂ:L¾¨¶-1¬ób«c¾. fª½¶©¢¼èóbÁ ¼ªª¾· §¶ÅàÕÁÆèßê¼«á¥¶ò ¬ÆäçÂ$¦ÝÂ:L¶¤¬Æ äç¬Ä§¶èób¨0 \HÂ ¹¤`¬óbs«4¶`¬Æäç ¼¬0¨¶2´¿¾ób..¬f¸ '0Â0,¾1 Â¨£ · ¤&¬Æäç¼èób:L§ ¦¾¶Ý¬!È è{'0¸\HÂi ¸¾¨§¾·ÝÌó«1¿¦ ÜZ§ªÆäç«c¦¶i¸ Ý¬ '0«0 åÖè¬7qÂÄ«I4 ..Âób¬*..¨¶!È è{ \HÂÄ«I4 ¹¬Â*\H¨ ¾· ¾Æäç«¦Ý&ÜZ¿ ¦ª¨,¾á4Â 3 ¤O¾· 1 ¤ ÅàÕÁÆèßê¼ÜZ¿ª§¶ `¬º-â¼è¶uªÌó«èó b1¿ 0¼¿¾· 2 ¤*..¨ÜZ¿¾ób¬f f*ª¾4§¾·¿èó b¬\H¨ \HÂ¹¤`¬óbs3« ¾ ¸¶¿¼Âtù§ª£ ¨0 ¼¿¾· 3 ¤*..¨ÜZ¿¾ób¬'0 f*ª¾4§¾·¿èób Â:L¦¾`¬Æäç¨*ª¾óbÂ: L¦¾¨0¼¿¾· ¿¼¬4èób¬:L«£¦ ¾¨,¶`¬Æäç¼¬0Âá«i ¸ Ä§¬*(«¦*\H« 0 ßê¼Â¤..Â*· [17] Â ·. −87− 7.

(12) 6CA< 7õ¶&;¬»ª¬Cg¾· 1·»½a¬ÏëË0¬r4½z+§ª 0¬#ª©Âß·¾ 2. :LÂª¼c¬y5¬Ó¯ 3. ò Æäç¬41û¬ @}Ä½1 ®¶ [18] ¬¶×%¾ FTO[ [1] : ¥±£¯«¶°ÂÍµÑ¨® ª³²Áº² 3 ½Ê¹ÉÆ Ä¡§, D-II 7. [9] Y. Shirai et al: Moving Object Perception and Tracking by Use of DSP, Proc. of CAMP, pp. 251-256, 1993 [10] T. Uhlin et al: Towards an Active Visual Observer, Fifth ICCV, pp. 679{686, 1995 [11] S. Yamamoto et al: Realtime Multiple Object Tracking Based on Optical Flows, Proc. ICRA, pp.2328-2333, 1995. "" ÞæãÝßëåì# °í¤ÃÜ± £¯«ÔÙ Ä¡§ Vol. J80-D-II,. [12]. Vol.J79-D-II,No.7,p.1210-1217,1996. [2]. Õ: ·Ó±©¬´ØÇÛÌÀ²à áãèÈËÃÜ¡§Ú» Vol.14, No. 4,. No. 6, pp. 1530{1583, 1997. [13] R. Okada et al: Tracking a Person by Integrating Optical Flow and Depth, Proc.. pp.180-185, 2001. IEEE International Conference on Auto-. [3] K. Kitai: Space Activity - Quantitative. matic Face and Gesture Recognition, pp.. analysis and evaluation with experiments on. 336-341, 2000.. the street, Proc. S&T/SPIE Conf. on Video-. ¸Î" ÞæãÝßëåì# °Ï!Ð¦ µÒÍ®Å¢²¿¼¢, ìçâä¡ » Vol.18, No.4, pp.521-528, 2000. [14]. metrics VI, pp. 268-275, 1999 [4] S. S. Intille et al: Real-Time Closed-World Tracking, Proc. CVPR, pp. 697-703, 1997 [5] K.Onoguchi: Shadow Elimination Method. [15] B.S. Rao et al: A Decentralized Bayesian Algorithm for Identi

(13) cation of Tracked Tar-. for Moving Object Detection, Proc. ICPR, pp.583-587, 1998 [6] S.J. McKenna et al: Tracking Groups of. gets, IEEE Trans. Vol. SMC-23, No. 6, 1993 [16] T. Matsuyama et al: Cooperative Distributed Vision, Proc. Int. People, Computer Vision and Image Under-. Cooperative Distributed Vision, pp. 1-39,. standing, Vol. 80, No. 1, pp. 42-56, 2000 [7] A. Iketani et al: Detecting persons on changing background, Proc. 14th ICPR,. 1998 [17] H. Tsutsui et al: Optical Flow-Based Per-. pp.74-76, 1998. son Tracking by Multiple Cameras, Proc. MVA, pp. 418-421 1998. ¸Î : ØÇßéêµÑ¨®ÅÙ²° Ö¾, ROBOMEC'00, p. 90, 2000 ×. [8] D. Coombs et al: Real-time Smooth Pur- [18] siut Tracking for a Moving Binocular Robot, Proc. CVPR'92. ! Workshop on. pp. 23-28, 1992 −88− 8.

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