Comparison of laser-based person tracking at feet and upper-body height

Abstract

In this paper, a systematic comparative analysis of laser-based tracking methods, at feet and upper-body height, is performed. To this end, we created a well defined dataset, including challenging but realistic person movement trajectories, appearing in public operational environments, recorded with multiple laser range finders. In order to evaluate and compare the tracking results, we applied and adapted a performance metric, known from the Computer Vision area. The dataset in combination with this performance metric enables us to perform systematic and repeatable experiments for benchmarking laser-based person trackers. © 2011 Springer-Verlag.