Special Section on Advances on Distributed Smart Cameras

Cost-efficient RGB-D smart camera for people detection and tracking

[+] Author Affiliations
Marco Carraro, Matteo Munaro, Emanuele Menegatti

University of Padova, Department of Information Engineering, Via Gradenigo 6/A, 35131-Padova, Italy

J. Electron. Imaging. 25(4), 041007 (Apr 27, 2016). doi:10.1117/1.JEI.25.4.041007
History: Received December 31, 2015; Accepted March 31, 2016
Text Size: A A A

Abstract.  We describe a software library we developed for efficiently using the Kinect v2, a time-of-flight RGB-D sensor, with an embedded system, the NVidia Jetson TK1, as a cost-efficient RGB-D smart camera for people detection and tracking. The speed-up needed for achieving real-time operation has been obtained using NVidia CUDA to concurrently generate and process the raw depth and infrared data and to create the three-dimensional point cloud. This library has been released as open source and the smart camera has been tested in real-world scenarios, as a people-detection node in an open-source multinode RGB-D tracking system (OpenPTrack) and onboard a service robot for endowing it with robust people-following capabilities. Moreover, we show that nonembedded computers also can benefit from our library in terms of people-detection frame rate.

Figures in this Article
© 2016 SPIE and IS&T

Citation

Marco Carraro ; Matteo Munaro and Emanuele Menegatti
"Cost-efficient RGB-D smart camera for people detection and tracking", J. Electron. Imaging. 25(4), 041007 (Apr 27, 2016). ; http://dx.doi.org/10.1117/1.JEI.25.4.041007


Access This Article
Sign in or Create a personal account to Buy this article ($20 for members, $25 for non-members).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging & repositioning the boxes below.

Related Book Chapters

Topic Collections

Advertisement
  • Don't have an account?
  • Subscribe to the SPIE Digital Library
  • Create a FREE account to sign up for Digital Library content alerts and gain access to institutional subscriptions remotely.
Access This Article
Sign in or Create a personal account to Buy this article ($20 for members, $25 for non-members).
Access This Proceeding
Sign in or Create a personal account to Buy this article ($15 for members, $18 for non-members).
Access This Chapter

Access to SPIE eBooks is limited to subscribing institutions and is not available as part of a personal subscription. Print or electronic versions of individual SPIE books may be purchased via SPIE.org.