Combining structured light and ladar for pose tracking in THz sensor management

Philip Engström; Maria Axelsson; Mikael Karlsson

doi:10.1117/12.2014478

23 May 2013 Combining structured light and ladar for pose tracking in THz sensor management

Philip Engström, Maria Axelsson, Mikael Karlsson

Proceedings Volume 8745, Signal Processing, Sensor Fusion, and Target Recognition XXII; 874515 (2013) https://doi.org/10.1117/12.2014478
Event: SPIE Defense, Security, and Sensing, 2013, Baltimore, Maryland, United States

Abstract

Stand-off 3D THz imaging to detect concealed treats is currently under development. The technology can provide high resolution 3D range data of a passing subject showing layers of clothes and if there are concealed items. However, because it is a scanning sensor technology with a narrow field of view, the subjects pose and position need to be accurately tracked in real time to focus the system and map the imaged THz data to specific body parts. Structured light is a technique to obtain 3D range information. It is, for example, used in the Microsoft Kinect for pose tracking of game players in real time. We demonstrate how structured light can contribute to a THz sensor management system and track subjects in real time. The main advantage of structured light is its simplicity, the disadvantages are the sensitivity to lighting conditions and material properties as well as a relatively low accuracy. Time of flight laser scanning is a technique that complements structured light well, the accuracy is usually much higher and it is less sensitive to lighting conditions. We show that by combining the techniques it is possible to create a robust real time pose tracking system for THz sensor management. We present a concept system based on the Microsoft Kinect and a SICK LMS-511 laser scanner. The laser scanner is used for 2D tracking of the subjects, this tracking is then used to initialize and validate the Microsoft Kinect pose tracking. We have evaluated the sensors individually in both static and dynamic scenes and present their advantages and drawbacks.

Citation Download Citation

Philip Engström, Maria Axelsson, and Mikael Karlsson "Combining structured light and ladar for pose tracking in THz sensor management", Proc. SPIE 8745, Signal Processing, Sensor Fusion, and Target Recognition XXII, 874515 (23 May 2013); https://doi.org/10.1117/12.2014478

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