Name
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 non-embedded computers also can benefit from our library in terms of people-detection frame rate. (C) 2016 SPIE and IS&T. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1117/1.JEI.25.4.041007 | JOURNAL OF ELECTRONIC IMAGING |
Keywords | Field | DocType |
RGB-D smart camera,Kinect v2,people detection and tracking,mobile robotics,NVidia Jetson,OpenPTrack | Computer vision,CUDA,Computer science,Tracking system,Smart camera,Software,RGB color model,Frame rate,Artificial intelligence,Point cloud,Service robot | Journal |
Volume | Issue | ISSN |
25 | 4 | 1017-9909 |
Citations | PageRank | References |
5 | 0.42 | 0 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Marco Carraro | 1 | 9 | 2.59 |
| Matteo Munaro | 2 | 169 | 15.02 |
| Emanuele Menegatti | 3 | 651 | 71.16 |