Exploring the Potential of Combining Time of Flight and Thermal Infrared Cameras for Person Detection

Wim Abbeloos, Toon Goedemé

Abstract

Combining new, low-cost thermal infrared and time-of-flight range sensors provides new opportunities. In this position paper we explore the possibilities of combining these sensors and using their fused data for person detection. The proposed calibration approach for this sensor combination differs from the traditional stereo camera calibration in two fundamental ways. A first distinction is that the spectral sensitivity of the two sensors differs significantly. In fact, there is no sensitivity range overlap at all. A second distinction is that their resolution is typically very low, which requires special attention. We assume a situation in which the sensors’ relative position is known, but their orientation is unknown. In addition, some of the typical measurement errors are discussed, and methods to compensate for them are proposed. We discuss how the fused data could allow increased accuracy and robustness without the need for complex algorithms requiring large amounts of computational power and training data.

References

  1. Dollár, P., Wojek, C., Schiele, B., and Perona, P. (2011). Pedestrian detection: An evaluation of the state of the art. PAMI, 99.
  2. Enzweiler, M. and Gavrila, D. M. (2009). Monocular pedestrian detection: Survey and experiments. TPAMI, 31(12):2179-2195.
  3. Gandhi, T. and Trivedi, M. (2007). Pedestrian protection systems: Issues, survey, and challenges. Intelligent Transportation Systems, IEEE Transactions on, 8(3):413-430.
  4. Hanning, T., Lasaruk, A., and Tatschke, T. (2011). Calibration and low-level data fusion algorithms for a parallel 2d/3d-camera. Information Fusion, 12(1):37 - 47.
  5. Karel, W., Ghuffar, S., and Pfeifer, N. (2012). Modelling and compensating internal light scattering in time of flight range cameras. The Photogrammetric Record, 27(138):155-174.
  6. Liang, F., Wang, D., Liu, Y., Jiang, Y., and Tang, S. (2012). Fast pedestrian detection based on sliding window filtering. In Proc. PCM 2012, pages 811-822, Berlin, Heidelberg. Springer-Verlag.
  7. McFarlane, N. and Schofield, C. (1995). Segmentation and tracking of piglets in images. Machine Vision and Applications, 8(3):187-193.
  8. Mure-Dubois, J. and Hügli, H. (2007). Real-time scattering compensation for time-of-flight camera. Proceedings of the ICVS Workshop on Camera Calibration Methods for Computer Vision Systems.
  9. Rosin, P. and Ellis, T. (1995). Image difference threshold strategies and shadow detection. In Proc. BMVC, pages 347-356. BMVA Press.
  10. Vidas, S., Lakemond, R., Denman, S., Fookes, C., Sridharan, S., and Wark, T. (2012). A mask-based approach for the geometric calibration of thermal-infrared cameras. Instrumentation and Measurement, IEEE Transactions on, 61(6):1625-1635.
  11. Yang, R. and Chen, Y. (2011). Design of a 3-d infrared imaging system using structured light. Instrumentation and Measurement, IEEE Transactions on, 60(2):608-617.
  12. Yang, R., Yang, W., Chen, Y., and Wu, X. (2011). Geometric calibration of ir camera using trinocular vision. Lightwave Technology, Journal of, 29(24):3797- 3803.
  13. Zhang, Z. (1999). Flexible camera calibration by viewing a plane from unknown orientations. In Proc. ICCV, volume 1, pages 666-673 vol.1.
Download


Paper Citation


in Harvard Style

Abbeloos W. and Goedemé T. (2013). Exploring the Potential of Combining Time of Flight and Thermal Infrared Cameras for Person Detection . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-71-6, pages 464-470. DOI: 10.5220/0004595704640470


in Bibtex Style

@conference{icinco13,
author={Wim Abbeloos and Toon Goedemé},
title={Exploring the Potential of Combining Time of Flight and Thermal Infrared Cameras for Person Detection},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2013},
pages={464-470},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004595704640470},
isbn={978-989-8565-71-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Exploring the Potential of Combining Time of Flight and Thermal Infrared Cameras for Person Detection
SN - 978-989-8565-71-6
AU - Abbeloos W.
AU - Goedemé T.
PY - 2013
SP - 464
EP - 470
DO - 10.5220/0004595704640470