The purpose of this research is to develop a system which gives blind people information of the environment around them. A person is equipped with a 3D scanner and a small sized PC while walking. The scanner scans and acquires 3D range data map of the environment. The PC analizes the range data map and detects objects which are useful for blind people in orde to walk. The PC gives environmental information to them by synthesized sound. This paper first introduces the concept of the whole system and clarify the tasks for realizing the system. Secondly the method for acquisition of 3D range data and detecting objects and obstacles are described. Then the usefulness of our proposed system is examined by an experiment in which our trial system detects bumps and trenches in the experimental environment.
Recently, tracking and counting people are requested for the security purpose. In this paper, we propose a method to track and count people with Laser Range Finders. A method to extract the walking human from the sensor data is introduced. Multi-target model and Kalman filter based estimation are employed to track the human movement and count the number of people. The proposed method is applied to a novel system to monitor the entrance area and to filter out the trespasser who enters the door without identification. Experiments for various cases are performed to verify the usefulness of developed proto-type system.
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