People-flow counting using depth images for embedded processing

Abstract

This paper proposes a people-flow counting algorithm using top-view depth images for implementation on low-power, embedded processors. In the people detection stage the algorithm uses morphological connected filters to find head candidates, and in the tracking stage it uses Kalman filtering in order to obtain good predictions in frames where detection fails. A fast interpolation algorithm is also proposed, which estimates the values of pixels affected by noise and generates an image with a continuous domain. The experiments were done using a Kinect sensor and the processing was performed in real time on a Raspberry Pi 3. The dataset consisted of 4025 short video sequences of people entering and exiting indoor environments, obtained from three different installations. The algorithm proved to be adequate for an embedded application, reaching an accuracy of 98% for frame rates as low as 5.5 FPS.