Fusing detected humans in multiple perception sensors network

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Ngày đăng: 11/02/2020, 18:33

A fusion method is proposed to keep a correct number of humans from all humans detected by the robot operating system based Perception Sensor Network (PSN) which includes multiple partially overlapped Field of View (FOV) Kinects. To this end, the fusion rules are based on the parallel and orthogonal con gurations of Kinects in PSN system. ❱❖▲❯▼❊✿ ✶ | ■❙❙❯❊✿ ✷ | ✷✵✶✼ | ◆♦✈❡♠❜❡r ❋✉s✐♥❣ ❉❡t❡❝t❡❞ ❍✉♠❛♥s ✐♥ ▼✉❧t✐♣❧❡ P❡r❝❡♣t✐♦♥ ❙❡♥s♦rs ◆❡t✇♦r❦ ❍♦❛♥❣ ◗✉❛♥❣ ▼✐♥❤ ❚❘❆◆✱ ❆♥❤ ❱✉ ▲❊✯ ❖♣t♦❡❧❡❝tr♦♥✐❝s ❘❡s❡❛r❝❤ ●r♦✉♣✱ ❋❛❝✉❧t② ♦❢ ❊❧❡❝tr✐❝❛❧ ❛♥❞ ❊❧❡❝tr♦♥✐❝s ❊♥❣✐♥❡❡r✐♥❣✱ ❚♦♥ ❉✉❝ ❚❤❛♥❣ ❯♥✐✈❡rs✐t②✱ ❍♦ ❈❤✐ ▼✐♥❤ ❈✐t②✱ ❱✐❡t♥❛♠ ✯❧❡❛♥❤✈✉❅t❞t✳❡❞✉✳✈♥ ✭❘❡❝❡✐✈❡❞✿ ✵✽✲❆✉❣✉st✲✷✵✶✼❀ ❛❝❝❡♣t❡❞✿ ✶✾✲❙❡♣t❡♠❜❡r✲✷✵✶✼❀ ♣✉❜❧✐s❤❡❞✿ ✸✵✲◆♦✈❡♠❜❡r✲✷✵✶✼✮ ❆ ❢✉s✐♦♥ ♠❡t❤♦❞ ✐s ♣r♦♣♦s❡❞ t♦ ❦❡❡♣ ❛ ❝♦rr❡❝t ♥✉♠❜❡r ♦❢ ❤✉♠❛♥s ❢r♦♠ ❛❧❧ ❤✉♠❛♥s ❞❡t❡❝t❡❞ ❜② t❤❡ r♦❜♦t ♦♣❡r❛t✐♥❣ s②st❡♠ ❜❛s❡❞ P❡r❝❡♣t✐♦♥ ❙❡♥s♦r ◆❡t✇♦r❦ ✭P❙◆✮ ✇❤✐❝❤ ✐♥✲ ❝❧✉❞❡s ♠✉❧t✐♣❧❡ ♣❛rt✐❛❧❧② ♦✈❡r❧❛♣♣❡❞ ❋✐❡❧❞ ♦❢ ❱✐❡✇ ✭❋❖❱✮ ❑✐♥❡❝ts✳ ❚♦ t❤✐s ❡♥❞✱ t❤❡ ❢✉s✐♦♥ r✉❧❡s ❛r❡ ❜❛s❡❞ ♦♥ t❤❡ ♣❛r❛❧❧❡❧ ❛♥❞ ♦rt❤♦❣♦♥❛❧ ❝♦♥✜❣✉r❛t✐♦♥s ♦❢ ❑✐♥❡❝ts ✐♥ P❙◆ s②st❡♠✳ ❋♦r t❤❡ ♣❛r❛❧❧❡❧ ❝♦♥✜❣✉r❛t✐♦♥✱ t❤❡ s②st❡♠ ✇✐❧❧ ❞❡❝✐❞❡ ✇❤❡t❤❡r t❤❡ ❞❡t❡❝t❡❞ ❤✉♠❛♥s st❛②✐♥❣ ✐♥ ❋❖❱ ♦❢ s✐♥❣❧❡ ❑✐♥❡❝t ♦r ✐♥ ♦✈❡r❧❛♣♣❡❞ ❋❖❱ ♦❢ ♠✉❧t✐♣❧❡ ❑✐♥❡❝ts ❜② ❡✈❛❧✉❛t✐♥❣ t❤❡ ❛♥❣❧❡s ❢♦r♠❡❞ ❜❡t✇❡❡♥ t❤❡✐r ❧♦❝❛t✐♦♥s ❛♥❞ ❑✐♥❡❝t ♦r✐❣✐♥❛❧ ♣♦✐♥t ♦♥ t♦♣ ✈✐❡✇ ✭x✱ z ♣❧❛♥❡✮ ♦❢ ✸❉ ❝♦♦r❞✐♥❛t✐♦♥✳ ❚❤❡♥✱ ❜❛s✐♥❣ ♦♥ t❤❡ ❛♥❣❧❡s✱ t❤❡ P❙◆ s②st❡♠ ✇✐❧❧ ❦❡❡♣ t❤❡ ♣❡rs♦♥ st❛② ✐♥ ♦♥❧② ♦♥❡ ❋❖❱ ♦r ❦❡❡♣ t❤❡ ♦♥❡ ✇✐t❤ ❜✐❣❣❡st ❘❖■ ✐❢ t❤❡② st❛② ✐♥ ♦✈❡r❧❛♣♣❡❞ ❋❖❱ ♦❢ ❑✐♥❡❝ts✳ ■♥ t❤❡ ❝❛s❡ ♦❢ ❑✐♥❡❝ts ✇✐t❤ ♦r✲ t❤♦❣♦♥❛❧ ❝♦♥✜❣✉r❛t✐♦♥✱ ✸❉ ❊✉❝❧✐❞✐❛♥ ❞✐st❛♥❝❡s ❜❡t✇❡❡♥ ❞❡t❡❝t❡❞ ❤✉♠❛♥s ❛r❡ ✉s❡❞ t♦ ❞❡t❡r♠✐♥❡ t❤❡ ❣r♦✉♣ ♦❢ ❤✉♠❛♥s s✉♣♣♦rt❡❞ t♦ ❜❡ s❛♠❡ ❤✉✲ ♠❛♥ ❜✉t ❞❡t❡❝t❡❞ ❜② ❞✐✛❡r❡♥t ❑✐♥❡❝ts✳ ❚❤❡♥ t❤❡ s②st❡♠✱ ❦❡❡♣ t❤❡ ❤✉♠❛♥ ✇✐t❤ ❛ ❜✐❣❣❡r ❘❡❣✐♦♥ ♦❢ ■♥t❡r❡st ✭❘❖■✮ ❛♠♦♥❣ t❤✐s ❣r♦✉♣✳ ❚❤❡ ❡①♣❡r✐✲ ♠❡♥t❛❧ r❡s✉❧ts ❞❡♠♦♥str❛t❡ t❤❡ ♦✉t♣❡r❢♦r♠✐♥❣ ♦❢ t❤❡ ♣r♦♣♦s❡❞ ♠❡t❤♦❞ ✐♥ ✈❛r✐♦✉s s❝❡♥❛r✐♦s✳ ❆❜str❛❝t✳ ❑❡②✇♦r❞s ❍✉♠❛♥ ❞❡t❡❝t✐♦♥✱ r♦❜♦t ♦♣❡r❛t✐♦♥ s②st❡♠✱ s❡♥s♦r ❢✉s✐♦♥✳ ✶✶✹ ✶✳ ■♥tr♦❞✉❝t✐♦♥ ❉❡t❡❝t✐♥❣ ❛♥❞ tr❛❝❦✐♥❣ ✐♥❞✐✈✐❞✉❛❧ ❤✉♠❛♥ ✐♥ t❤❡ ❝❧✉st❡r ❡♥✈✐r♦♥♠❡♥ts s✉❝❤ ❛s ✐♥ t❤❡ ❣r♦✉♣ ♦❢ ❤✉✲ ♠❛♥s ✐s ❛♥ ✐♥t❡r❡st✐♥❣ ❛r❡❛ ✐♥ r❡❝❡♥t ②❡❛rs✳ ■♥ t❤❡s❡ s❝❡♥❛r✐♦s✱ ❞❡t❡❝t✐♥❣ t❤❡ ❛♣♣❡❛r❛♥❝❡s ♦❢ ❤✉✲ ♠❛♥s ✐s ❝❤❛❧❧❡♥❣✐♥❣ ♣r♦❜❧❡♠ s✐♥❝❡ t❤❡ ❤✉♠❛♥s ❛r❡ ♥♦r♠❛❧❧② ♣❛rt✐❛❧❧② ♦r ❢✉❧❧② ♦✈❡r❧❛♣♣❡❞ ❜② ♦t❤❡r ❤✉♠❛♥s ✐♥ t❤❡ s❝❡♥❡ ❛♥❞ ❤✉♠❛♥s ❛♣♣❡❛r✲ ✐♥❣ ♦✉t ♦❢ s❡♥s♦r ❋❖❱ ❬✶❪✳ ▼✉❧t✐♣❧❡ s❡♥s♦rs ❢✉✲ s✐♦♥ ✐s ♦♥❡ ♦❢ ❡✣❝✐❡♥t ❛♣♣r♦❛❝❤❡s t♦ s♦❧✈❡ t❤❡ t❤❡s❡ ♣r♦❜❧❡♠s ❬✷❪✳ ❙❡♥s♦r ❢✉s✐♦♥ ✐♥ ❝♦♠♣✉t❡r ✈✐s✐♦♥ ✐s ❝❧❛ss✐✜❡❞ ✐♥t♦ s❡✈❡r❛❧ ❝❛t❡❣♦r✐❡s✿ s❝❡♥❡ s❡❣♠❡♥t❛t✐♦♥✱ r❡♣r❡s❡♥t❛t✐♦♥✱ ✸✲❉ s❤❛♣❡ ❡st✐♠❛✲ t✐♦♥✱ s❡♥s♦r ♠♦❞❡❧✐♥❣✱ ❛✉t♦♥♦♠♦✉s r♦❜♦ts✱ ❛♥❞ ♦❜❥❡❝t ❞❡t❡❝t✐♦♥ ❛♥❞ tr❛❝❦✐♥❣✳ ■♥ ❬✸❪✱ ❛ s✉r✈❡② ♦❢ t❤❡ st❛t❡ ♦❢ t❤❡ ❛rt ✐♥ ♠✉❧t✐✲s❡♥s♦r ❢✉s✐♦♥ ✐s ♣r❡✲ s❡♥t❡❞✳ ❚❤❡ r❡s❡❛r❝❤ ♦❢ ❬✹❪ ♣r♦♣♦s❡❞ ❛ ♠❡t❤♦❞ ✐♥ ✇❤✐❝❤ ✸❉ ♣♦s✐t✐♦♥s ♦❢ ❞❡t❡❝t❡❞ ❤✉♠❛♥s ❜② ♠✉❧t✐♣❧❡ s❡♥s♦rs ❛r❡ ✉s❡❞ t♦ tr❛❝❦ t❤❡ ❞❡t❡❝t❡❞ ♦♥❡✳ ❯s✐♥❣ ♠✉❧t✐♣❧❡ s❡♥s♦rs ✐♥ ❬✺❪ ❡♥❤❛♥❝❡s t❤❡ r♦❜♦t ❛❜✐❧✐t✐❡s t♦ tr❛❝❦ ❤✉♠❛♥ ✐♥ r❡s❝✉❡s s✐t✉❛✲ t✐♦♥s✳ ❚❤❡ ✇♦r❦s ♦❢ ❬✻❪ ❤❛✈❡ ♣r♦✈❡❞ t❤❛t ✐♥❢♦r✲ ♠❛t✐♦♥ ❢r♦♠ ♠✉❧t✐♣❧❡ s❡♥s♦rs ✐♥❝r❡❛s❡s t❤❡ ❛❝❝✉✲ r❛❝② ♦❢ t❤❡ ❤✉♠❛♥ ❛❝t✐♦♥s r❡❝♦❣♥✐t✐♦♥✳ ■♥ ❬✼❪ ❛♥❞ ❬✽❪✱ ♣❡❞❡str✐❛♥ tr❛❝❦✐♥❣ ✉s✐♥❣ t❤❡ ♠✉❧t✐♣❧❡ s❡♥✲ s♦rs ❛♥❞ ♦♣t✐❝❛❧ ❢♦❧❧♦✇ ❛r❡ r❡s❡❛r❝❤❡❞ ❛♥❞ t❤❡s❡ ♣r♦✈❡❞ t❤❛t ❝❧✉st❡r ❡♥✈✐r♦♥♠❡♥ts ❛r❡ t❤❡ ❝❤❛❧✲ ❧❡♥❣❡ ♣r♦❜❧❡♠ ♦❢ ❤✉♠❛♥ ❞❡t❡❝t✐♦♥ ❛♥❞ tr❛❝❦✐♥❣✳ ❚❤❡ ✐ss✉❡s ♦❢ ♠✉❧t✐♠♦❞❛❧ ❢✉s✐♦♥ ❛r❡ r❡✈✐s❡❞ ✐♥ t❤❡ ✇♦r❦s ♦❢ ❬✾❪✳ ■♥ t❤❡ ✇♦r❦s ♦❢ ❬✶✵❪✱ ❛ ♥✉♠✲ ❜❡r ♦❢ ❢✉s✐♦♥ str❛t❡❣✐❡s ❤❛✈❡ ❜❡❡♥ ❡♠♣❧♦②❡❞ t♦ ❝♦♠❜✐♥❡ s❡♥s♦r ♦✉t♣✉ts ❢r♦♠ ❘●❇✲❞❡♣t❤ ❝❛♠✲ ❡r❛ ❛♥❞ ❞❡♣t❤ s❡♥s♦r t♦ ❡♥❤❛♥❝❡ t❤❡ ✐♥t❡❣r✐t② ♦❢ ❝ ✷✵✶✼ ❏♦✉r♥❛❧ ♦❢ ❆❞✈❛♥❝❡❞ ❊♥❣✐♥❡❡r✐♥❣ ❛♥❞ ❈♦♠♣✉t❛t✐♦♥ ✭❏❆❊❈✮ ❱❖▲❯▼❊✿ ✶ ❞❡♣t❤ ❞❛t❛ ✐♥ ❞❡t❡❝t✐♦♥ ♦❜❥❡❝t✳ ❚♦ ✐♠♣r♦✈❡ t❤❡ ♥❛✈✐❣❛t✐♦♥ ♦❢ r♦❜♦t✐❝ ❝❛rs ✐♥ ❝❧✉st❡r ❡♥✈✐r♦♥♠❡♥t ✇✐t❤ ♦❜st❛❝❧❡s✱ ❬✶✶❪ ♣r♦♣♦s❡ ❛ ✈✐s✐♦♥ ♠✉❧t✐s❡♥s♦r ❢✉s✐♥❣ ❢r❛♠❡✇♦r❦✱ ✇❤✐❝❤ ❢✉s❡s ❝♦❧♦r✱ ❞❡♣t❤✱ ❛♥❞ ❧❛s❡r ✐♥❢♦r♠❛t✐♦♥ ❝♦♥s✐st❡♥t❧② ✈✐❛ ❜♦t❤ ❣❡♦♠❡t✲ r✐❝❛❧ ❛♥❞ s❡♠❛♥t✐❝ ❝♦♥str❛✐♥ts✳ ❙❡♥s♦r ❢✉s✐♦♥ ✐s ✉s❡❞ ✐♥ ❬✶✷❪ t♦ ❛❞❞r❡ss t❤❡ ♣r♦❜❧❡♠ ♦❢ ♦❜❥❡❝t ❞❡✲ t❡❝t✐♦♥ ❛♥❞ tr❛❝❦✐♥❣ ✐♥ ♦❝❝❧✉s✐♦♥ s❝❡♥❛r✐♦✳ ❚❤❡ r❡❞✉♥❞❛♥t ❞❛t❛ ✐s ❞❡t❡r♠✐♥❡❞ ✐❢ t❤❡ ❊✉❝❧✐❞✐❛♥ ❞✐st❛♥❝❡ ❜❡t✇❡❡♥ ♦❜❥❡❝ts ✐s ❧♦✇❡r t❤❛♥ t❤r❡s❤✲ ♦❧❞✳ ❚❤✐s ❢✉s✐♦♥ r✉❧❡ ❡❛s✐❧② ❧❡❛❞ t♦ ♠✐ss ❞❡t❡❝✲ t✐♦♥ ❛❢t❡r ❢✉s✐♥❣ ✐♥ ❝❛s❡s ❞✐✛❡r❡♥t ♦❜❥❡❝ts st❛②✲ ✐♥❣ ❝❧♦s❡❧② ❡❛❝❤ ♦t❤❡r✳ ❆ ♣r♦♣♦s❡❞ P❙◆ s②st❡♠ ✐♥ ❬✶✸❪ ❛♥❞ ❬✶✹❪ ✐♥❝❧✉❞✐♥❣ ✈❛r✐♦✉s ❑✐♥❡❝t ❝❛♠✲ ❡r❛s ✭P❙◆ ✉♥✐ts✮ ❬✶✺❪ ♣❧❛②✐♥❣ ❛ r♦❧❡ ❛s s②st❡♠ ♣❡r❝❡♣t✐♦♥ ♣❛rts ✐s ✉s❡❞ t♦ ❞❡t❡❝t❡❞ ❛♥❞ tr❛❝❦✲ ✐♥❣ ❤✉♠❛♥s ❛♣♣❡❛r✐♥❣ ✐♥ t❤❡ ❋❖❱ ♦❢ ❑✐♥❡❝ts ✐♥ P❙◆✳ ❙✐♥❝❡ t❤❡ P❙◆ s②st❡♠ ❝♦♥s✐sts ♦❢ ♠✉❧t✐♣❧❡ ❑✐♥❡❝ts ❛♥❞ t❤❡ ❋❖❱ ♦❢ t✇♦ ❑✐♥❡❝ts ✐s ❝♦♥✜❣✲ ✉r❡❞ t♦ ♦✈❡r❧❛♣ ♣❛rt✐❛❧❧② ❡❛❝❤ ♦t❤❡r✱ ✐t ✐s ♣♦ss✐❜❧❡ t❤❛t s♦♠❡♦♥❡ st❛②✐♥❣ ✐♥ t❤❡ ♦✈❡r❧❛♣♣❡❞ r❡❣✐♦♥ ✐s ❞❡t❡❝t❡❞ ❜② ❜♦t❤ ❑✐♥❡❝ts✳ ❚❤❡ ❢✉s✐♦♥ r✉❧❡s ♦❢ ❬✶✸❪ ❛♥❞ ❬✶✹❪ ✐s s✐♠✐❧❛r ✇✐t❤ ❬✶✷❪✱ t❤❡② ✉s❡ t❤❡ ❞✐st❛♥❝❡s ❜❡t✇❡❡♥ ❞❡t❡❝t❡❞ ♦❜❥❡❝ts t♦ ✜♥❞ t❤❡ s❛♠❡ ♦❜❥❡❝t ❜✉t ❛r❡ ❞❡t❡❝t❡❞ ❜② ❞✐✛❡r❡♥t ❑✐✲ ♥❡♥t ❝❛♠❡r❛s✳ ❚❤✐s ❢✉s✐♦♥ r✉❧❡ ❡❛s✐❧② ❧❡❛❞ t♦ ♠✐ss ❞❡t❡❝t✐♦♥ ❛❢t❡r ❢✉s✐♥❣ ✐♥ ❝❛s❡s ❞✐✛❡r❡♥t ♦❜✲ ❥❡❝ts st❛②✐♥❣ ♥❡❛r ❡❛❝❤ ♦t❤❡r✳ ❚❤❡ r❡q✉✐r❡♠❡♥t ♦❢ ❦❡❡♣✐♥❣ ❛ ❝♦rr❡❝t ♥✉♠❜❡r ♦❢ ❤✉♠❛♥s ❢r♦♠ ❛❧❧ ❞❡t❡❝t❡❞ ❤✉♠❛♥s ✐♥❝❧✉❞✐♥❣ r❡❞✉♥❞❛♥t ❞❡t❡❝t❡❞ ❤✉♠❛♥s ✐s t❤❡ ❝r✉❝✐❛❧ r❡q✉✐r❡♠❡♥t t♦ ❡♥❤❛♥❝❡ t❤❡ ❞❡t❡❝t✐♥❣ ❛♥❞ tr❛❝❦✐♥❣ t❛s❦s✳ ❚♦ t❤✐s ❡♥❞✱ ✐♥ t❤✐s ♣❛♣❡r ❛ ♥♦✈❡❧ ❢✉s✐♥❣ ♠❡t❤♦❞s ✇✐❧❧ ❛❝❝✉✲ ♠✉❧❛t❡ t❤❡ ❧♦❝❛t✐♦♥ ✐♥❢♦r♠❛t✐♦♥ ♦❢ ❛❧❧ ❞❡t❡❝t❡❞ ❤✉♠❛♥s ❢r♦♠ P❙◆ ✉♥✐ts ❛♥❞ t❤❡♥ r❡♠♦✈❡ r❡❞✉♥✲ ❞❛♥t ✐♥❢♦r♠❛t✐♦♥ ✐❢ ❛♥②✳ ▼♦r❡♦✈❡r✱ t❤❡s❡ ❢✉s✐♦♥ ♠❡t❤♦❞s ❛r❡ ♣r♦♣♦s❡❞ t♦ t♦❧❡r❛t❡ t❤❡ ❝❛❧✐❜r❛t✐♦♥ ❡rr♦rs ♦❢ ❑✐♥❡❝ts s❡tt✐♥❣ ❙♣❡❝✐✜❝❛❧❧②✱ ❑✐♥❡❝t ❝♦♥✲ ✜❣✉r❛t✐♦♥s ❛r❡ ❝❧❛ss✐✜❡❞ ✐♥t♦ ♣❛r❛❧❧❡❧ ❛♥❞ ♦rt❤♦❣✲ ♦♥❛❧✳ ❚❤❡ ❢✉s✐♦♥ r✉❧❡s ♦❢ ♣❛r❛❧❧❡❧ ❝♦♥✜❣✉r❛t✐♦♥ ❛r❡ ❜❛s❡❞ ♦♥ t❤❡ ❞❡❝✐s✐♦♥s ✇❤❡t❤❡r ❞❡t❡❝t❡❞ ❤✉✲ ♠❛♥ ❜❡❧♦♥❣ t♦ ❋❖❱ ♦❢ ♦♥❡ ❑✐♥❡❝t ♦r ❜❡❧♦♥❣ t♦ ❜♦t❤ ❋❖❱ ♦❢ t✇♦ ❑✐♥❡❝t✳ ❖♥ ❛♥♦t❤❡r ❤❛♥❞✱ ✸❉ ❧♦❝❛t✐♦♥s ♦❢ ❞❡t❡❝t❡❞ ❤✉♠❛♥s ❛r❡ ✉s❡❞ ✐♥ t❤❡ ♦r✲ t❤♦❣♦♥❛❧ ❝♦♥✜❣✉r❛t✐♦♥ t♦ ❞❡t❡r♠✐♥❡ t❤❡ ❣r♦✉♣ ♦❢ ❤✉♠❛♥s s✉♣♣♦rt✐♥❣ t❤❡ s❛♠❡ ❤✉♠❛♥ ❜✉t ❞❡✲ t❡❝t❡❞ ❜② ❞✐✛❡r❡♥t ❑✐♥❡❝ts✳ | ■❙❙❯❊✿ ✷ | ✷✵✶✼ | ◆♦✈❡♠❜❡r ✐♠❡♥t❛❧ r❡s✉❧ts ♦❢ ♣r♦♣♦s❡❞ ♠❡t❤♦❞ ❛r❡ ♣r♦✈✐❞❡❞ ✐♥ ❙❡❝✳ ✹✳ ✳ ✷✳ P❙◆ ❙②st❡♠ ❖✈❡r✈✐❡✇ ❚❤❡ ❘♦❜♦t ❖♣❡r❛t✐♦♥ ❙②st❡♠ ✭❘❖❙✮✲❜❛s❡❞ s②s✲ t❡♠ ❬✶✻❪ ❛r❡ ✉s❡❞ t♦ ❞❡t❡❝t ❤✉♠❛♥s✳ ◆♦t❡ t❤❛t ❘❖❙ ❜❛s✐♥❣ ♦♥ ♠❛st❡r ❛♥❞ ❝❧✐❡♥ts ♣❧❛t❢♦r♠ ♣r♦✲ ✈✐❞❡s t❤❡ ❢✉♥❞❛♠❡♥t❛❧ ❝♦♠♠✉♥✐❝❛t✐♦♥ ❡♥✈✐r♦♥✲ ♠❡♥ts ❢♦r ♥♦❞❡s✳ ❊❛❝❤ P❙◆ ✉♥✐t ❛❝ts ❛s t❤❡ s✐♥✲ ❣❧❡ ♥♦❞❡ ♦❢ ❘❖❙ ❛♥❞ ❝♦♠♠✉♥✐❝❛t❡s ✇✐t❤ ♦t❤❡r P❙◆ ✉♥✐ts ✉♥❞❡r t❤❡ ❝♦♥tr♦❧s ♦❢ s❡r✈❡r ♣❧❛②✐♥❣ ❛ r♦❧❡ ❛s ♠❛st❡r ♦❢ ❘❖❙✳ ■♥ P❙◆✱ t❤❡ ♥♦✈❡❧ ❘❖❙ ❜❛s❡❞ ♣❛❝❦❛❣❡ ❝❛❧❧❡❞ ❖♣❡♥♥✐ ❬✶✼❪ ✐♥st❛❧❧❡❞ ✐♥ P❙◆ ✉♥✐ts ✇❤✐❝❤ ✉s❡ ❑✐♥❡❝ts t♦ ❞❡t❡❝t t❤❡ ❤✉♠❛♥s ❛♣♣❡❛r✐♥❣ ✐♥ ❑✐♥❡❝t ❋❖❱s t❤❡♥ t♦ ♣r♦✲ ✈✐❞❡ t❤❡ ✸❉ ❞✐st❛♥❝❡ ❛♥❞ ✷❉ ❘❖■ ♦❢ t❤❡s❡ ❞❡✲ t❡❝t❡❞ ❤✉♠❛♥s✳ ❙♣❡❝✐✜❝❛❧❧②✱ t❤❡ ❧♦❝❛t✐♦♥s ♦❢ ❤✉✲ ♠❛♥s ❝❛♥ ❜❡ ❞❡t❡❝t❡❞ ❡❛s✐❧② ❜② ✜♥❞✐♥❣ t❤❡ ❤✉✲ ♠❛♥ ❜♦❞② ❥♦✐♥ts ✇❤✐❝❤ ❛r❡ s✉♣♣♦rt❡❞ ✈❡r② ❡✛❡❝✲ t✐✈❡❧② ❜② t❤❡ ❛✈❛✐❧❛❜❧❡ ♦♣❡♥ s♦✉r❝❡ ❧✐❜r❛r✐❡s ❬✶✽❪ ❛♥❞ ❬✶✾❪✳ ❆❢t❡r t❤❡ ♣r❡s❡♥t✐♥❣ ♦❢ ♦♥❡ ❞❡t❡❝t❡❞ ❤✉♠❛♥✱ t❤✐s ❤✉♠❛♥ ✐s tr❛❝❦❡❞ ❜② P❙◆ ❛♥❞ ❧♦❝❛✲ t✐♦♥ ❛♥❞ ♥❛♠❡ ✐s ♣✉❜❧✐s❤❡❞ ❛s ❘❖❙ t♦♣✐❝s ✐♥ t❤❡ s②st❡♠✳ ❊❛❝❤ s♦❢t✇❛r❡ ♠♦❞✉❧❡ ❛❝t✐♥❣ ❛s ❛ ♥♦❞❡ ♦❢ ❘❖❙ ♣✉❜❧✐s❤❡s ❛s ✇❡❧❧ ❛s s✉❜s❝r✐❜❡rs t❤❡ ❘❖❙ t♦♣✐❝ ♠❡ss❛❣❡s✳ ❚❤❡ P❙◆ s②st❡♠ ❝♦♥s✐sts ♦❢ ❲❍❊❘❊ ♠♦❞✉❧❡ ✐♥st❛❧❧❡❞ ❛t P❙◆ ✉♥✐ts ✉s✐♥❣ ❑✐♥❡❝t ❖♣❡♥♥✐ t♦ ❞❡t❡❝t ❤✉♠❛♥s✳ ❚❤❡ ❤✉♠❛♥ ❧♦✲ ❝❛t✐♦♥s ❛r❡ ❛❞✈❡rt✐s❡❞ ❛s ❘❖❙ t♦♣✐❝s ♦♥ t❤❡ s②s✲ t❡♠ ❛♥❞ ❘❖❙ ♥♦❞❡s ❝❛♥ s✉❜s❝r✐❜❡ t♦ ✉t✐❧✐③❡ t❤✐s ✐♥❢♦r♠❛t✐♦♥ ❝♦♥✈❡♥✐❡♥t❧②✳ ❚❤❡ ♠♦❞✉❧❡ ❜❧♦❝❦s✱ t♦♣✐❝s s✉❜s❝r✐❜✐♥❣ ❛♥❞ ♣✉❜❧✐s❤✐♥❣ ❛r❡ ❞❡♣✐❝t❡❞ ✐♥ ❋✐❣✳ ✶✳ ❲❍❊❘❊ ❢✉s✐♦♥ ♠♦❞✉❧❡ ✐♥st❛❧❧❡❞ ❛t ♠❛st❡r ✇✐❧❧ ❛❝❝✉r❛t❡ ❛❧❧ ❞❡t❡❝t❡❞ ❤✉♠❛♥s ❜② s✉❜✲ s❝r✐❜✐♥❣ t❤❡ ✴❞❡t❡❝t♦r t♦♣✐❝s ❛❞✈❡rt✐s❡❞ ❜② P❙◆s ✉♥✐ts ❛♥❞ ✉s❡s ❢✉s✐♦♥ r✉❧❡s t♦ ❦❡❡♣ t❤❡ ❝♦rr❡❝t ♥✉♠❜❡r ♦❢ ❤✉♠❛♥s✳ ❚❤❡ ✜♥❛❧ ❤✉♠❛♥ ❧♦❝❛t✐♦♥s ❘❖■s ❛❢t❡r ❢✉s✐♥❣ ✭✴✇❤❡r❡ t♦♣✐❝s✮ ❛r❡ ❛❞✈❡rt✐s❡❞ ✐♥ P❙◆s ❢♦r ❛❞✈❛♥❝❡❞ ❛♣♣❧✐❝❛t✐♦♥ s✉❝❤ ❛s tr❛❝❦✲ ✐♥❣ ❛♥❞ ❣❡st✉r❡ ❡✈❛❧✉❛t✐♥❣✳ ❙♣❡❝✐✜❝❛❧❧②✱ ✐♥ P❙◆✱ kn ✭n ∈ {1, 2}✮ ✐s t❤❡ ✸❉ ♦r✐❣✐♥ ♣♦s✐t✐♦♥ ♦❢ ❑✐♥❡❝t n ❛♥❞ ❛♥❞ t❤❡ ✸❉ ❛ ♣❡rs♦♥ i ❛t ❢r❛♠❡ t ❞❡t❡❝t❡❞ ❜② ❚❤❡ ❢♦❧❧♦✇✐♥❣ ✐s t❤❡ str✉❝t✉r❡ ♦❢ t❤❡ ♣❛♣❡r✳ ♣♦s✐t✐♦♥ ♦❢ n ❑✐♥❡❝t k ❞❡✜♥❡❞ ❛s pti (k n ) ❛♥❞ ❘❖■ ♦❢ t❤✐s ❙❡❝t✐♦♥ ✷✳ ✇✐❧❧ ✐♥tr♦❞✉❝❡ t❤❡ P❙◆ s②st❡♠✳ ❙❡❝✲ ❛t ❢r❛♠❡ t ✐s ❞❡✜♥❡❞ ❛s ROI {pti (k n )} = t✐♦♥ ✸✳ ♣r❡s❡♥ts t❤❡ ❢✉s✐♦♥ ♠❡t❤♦❞✳ ❚❤❡ ❡①♣❡r✲ ♣❡rs♦♥ t t (xi , yi , wit , hti ) ✇❤❡r❡ wit ❛♥❞ hti ♠❡❛♥ ✇✐❞t❤ ❛♥❞ ❝ ✷✵✶✼ ❏♦✉r♥❛❧ ♦❢ ❆❞✈❛♥❝❡❞ ❊♥❣✐♥❡❡r✐♥❣ ❛♥❞ ❈♦♠♣✉t❛t✐♦♥ ✭❏❆❊❈✮ ✶✶✺ ❱❖▲❯▼❊✿ ✶ ❤❡✐❣❤t r❡s♣❡❝t✐✈❡❧② ❛s ✐♥ ❋✐❣✳ ✷✳ ❚♦ ❞❡t❡❝t ❛♥❞ tr❛❝❦ ❤✉♠❛♥✱ P❙◆ s②st❡♠ ✉s❡s ❢♦✉r ❑✐♥❡❝ts ♥✉♠❜❡r❡❞ ❛s id1✱ id2✱ id3 ❛♥❞ id4 ✐♥ ✇❤✐❝❤ t❤❡ ♣❛✐r ❑✐♥❡❝ts id1✱ id2 ❛♥❞ t❤❡ ♣❛✐r ❑✐♥❡❝ts id3 ❛♥❞ id4 ❛r❡ ❝♦♥✜❣✉r❡❞ ❜② ♣❛r❛❧❧❡❧ s❡tt✐♥❣ ❛♥❞ t❤❡ ♣❛✐r ❑✐♥❡❝ts id1✱ id3 ❛♥❞ t❤❡ ♣❛✐r ❑✐♥❡❝ts id2✱ id4 ❛r❡ ❝♦♥✜❣✉r❡❞ ❜② ♦rt❤♦❣♦♥❛❧ s❡tt✐♥❣✳ ◆♦t❡ t❤❛t ✐♥ ♣❛r❛❧❧❡❧ s❡tt✐♥❣✱ t❤❡ t✇♦ ❧♦❝❛❧ ♦r✐❣✐♥ ♦❢ ❑✐♥❡❝ts ❡✳❣✳ k n ❛♥❞ ❣❧♦❜❛❧ ♦r✐❣✐♥ O ♦❢ P❙◆ s②st❡♠ ❛r❡ ♦♥ t❤❡ s❛♠❡ ❧✐♥❡ ❛♥❞ ✐♥ ♦rt❤♦❣♦♥❛❧ s❡tt✐♥❣✱ t❤❡ ❧♦❝❛❧ ♦r✐❣✐♥s ♦❢ ✷ ❑✐♥❡❝ts ❛r❡ ❝♦♥✲ ✜❣✉r❡❞ s♦ t❤❛t t❤❡② ❢❛❝❡ ♦♣♣♦s✐t❡❧② ❡❛❝❤ ♦t❤❡r✳ ❚❤❡ ♣❛r❛❧❧❡❧ s❡tt✐♥❣ ♦❢ t✇♦ ❑✐♥❡❝ts ♦❢ P❙◆ ✐s ❝♦♥✜❣✉r❡❞ ❛s s❤♦✇♥ ✐♥ ❋✐❣✳ ✸ ✇❤✐❝❤ ❞❡♣✐❝ts ❛ t♦♣ ✈✐❡✇ ✭xz ✲♣❧❛♥❡✮ ❛♥❞ t❤❡ ♦rt❤♦❣♦♥❛❧ s❡tt✐♥❣ ♦❢ t✇♦ ❑✐♥❡❝ts ♦❢ P❙◆ ✐s ❝♦♥✜❣✉r❡❞ ❛s s❤♦✇♥ ✐♥ ❋✐❣✳ ✹ ✇❤✐❝❤ ❛❧s♦ ❞❡♣✐❝ts ❛ t♦♣ ✈✐❡✇ ✭xz ✲♣❧❛♥❡✮ ♦❢ ❣❧♦❜❛❧ ✸❉ ❝♦♦r❞✐♥❛t✐♦♥✳ ROS clients ROS master Kinect id1 /detector Kinect id2 /detector Kinect id3 /detector Kinect id4 WHERE Fusion /detector WHERE Module /where ROS master advance applications ❋✐❣✳ ✶✿ ▼♦❞✉❧❡s ❛♥❞ ♠❡ss❛❣❡ tr❛♥s♠✐ss✐♦♥s ♦❢ P❙◆✳ pit (k n ) � ( xit , yit , zit ) ❋✐❣✳ ✷✿ ✶✶✻ ROI { pit (k n )} � ( xit , yit , hit wit ) ❋❡❛t✉r❡s ♦❢ ❞❡t❡❝t❡❞ ❤✉♠❛♥ ✐♥ ❋❖❱ ♦❢ ❑✐♥❡❝t n✿ ✸❉ ❧♦❝❛t✐♦♥ ❛t t♦♣ ❧❡❢t ❝♦r♥❡r ❛♥❞ ❘❖■✳ ✸✳ | ■❙❙❯❊✿ ✷ | ✷✵✶✼ | ◆♦✈❡♠❜❡r Pr♦♣♦s❡❞ ❋✉s✐♦♥ ▼❡t❤♦❞ ❚❤❡ ❑✐♥❡❝ts ✐♥ P❙◆ s②st❡♠ ❛r❡ r♦✉❣❤❧② ❝❛❧✐✲ ❜r❛t❡❞ ♠❛♥✉❛❧❧② ✐♥ ❛❞✈❛♥❝❡✳ ❙✐♥❝❡ t❤❡ ❡✛❡❝t✐✈❡ ❋❖❱ ♦❢ ❑✐♥❡❝t ✐s ❛❜♦✉t t❤r❡❡ ♠❡t❡r✱ t❤❡ ♦✛✲ s❡t ✈❛❧✉❡ ❛❢t❡r ❝❛❧✐❜r❛t✐♦♥ ✐♥ ❤♦r✐③♦♥t❛❧ ❛①✐s ♦❢ ❑✐♥❡❝ts ✐s s❡t t♦ ✸ ♠❡t❡rs ❛♥❞ ✐♥ ✈❡rt✐❝❛❧ ❛①✐s ✐s s❡t t♦ ✺ ♠❡t❡rs✳ ❚❤❡ ♦r✐❣✐♥ ♦❢ ❣❧♦❜❛❧ ❝♦♦r✲ ❞✐♥❛t❡ ✐s s❡t ❛t t❤❡ ♠✐❞❞❧❡ ♣♦✐♥t ♦♥ t❤❡ ❧✐♥❡ ❝♦♥♥❡❝t❡❞ ❧♦❝❛❧ ♦r✐❣✐♥s ♦❢ ❑✐♥❡❝ts id1 ❛♥❞ id2✳ ❚❤❡♥ t❤❡ ❝❛❧✐❜r❛t✐♦♥ ♣❛r❛♠❡t❡rs ❛r❡ st♦r❡❞ ✐♥ t❤❡ ❞❛t❛❜❛s❡ ♦❢ P❙◆ s②st❡♠ ❛♥❞ ♣✉❜❧✐s❤❡❞ ❛s ❘❖❙ t♦♣✐❝s✳ ❚❤❡ P❙◆ ✉♥✐ts s✉❜s❝r✐❜❡ t❤❡s❡ ❝❛❧✲ ✐❜r❛t✐♦♥s ♣❛r❛♠❡t❡rs t♦♣✐❝s t♦ ❝♦♥✈❡rt t❤❡ ❧♦❝❛❧ ❝♦♦r❞✐♥❛t❡ ♦❢ ❡❛❝❤ ❑✐♥❡❝t t♦ ❣❧♦❜❛❧ ❝♦♦r❞✐♥❛t❡ ♦❢ P❙◆ s②st❡♠✳ ❆s t❤❡ r❡s✉❧ts✱ t❤❡ ✸❉ ❧♦❝❛t✐♦♥s ♦❢ ❞❡t❡❝t❡❞ ❤✉♠❛♥ ♦❢ ❑✐♥❡❝ts ❛r❡ ❝♦♥✈❡rt❡❞ t♦ ❣❧♦❜❛❧ ✸❉ ❧♦❝❛t✐♦♥s✳ ■❢ t❤❡ ❝❛❧✐❜r❛t✐♦♥ st❡♣s ❛r❡ ✐♠♣❧❡♠❡♥t❡❞ ♣❡r❢❡❝t❧② ❛♥❞ t❤❡ ❛❝❝✉r❛t❡ ❝❛❧✐❜r❛t✲ ✐♥❣ ♣❛r❛♠❡t❡rs ❝❛♥ ❜❡ ♦❜t❛✐♥❡❞✱ t❤❡ ❞❡t❡❝t❡❞ ♣❡♦♣❧❡ s✉♣♣♦rt✐♥❣ t♦ ❜❡ t❤❡ s❛♠❡ ♣❡rs♦♥ ❜✉t ❞❡✲ t❡❝t✐♥❣ ❜② ❞✐✛❡r❡♥t ❑✐♥❡❝ts ✇✐❧❧ ❤❛✈❡ t❤❡ s❛♠❡ ✸❉ ❧♦❝❛t✐♦♥s✳ ■♥ t❤✐s s✐t✉❛t✐♦♥✱ r❡♠♦✈✐♥❣ r❡❞✉♥✲ ❞❛♥t ❤✉♠❛♥s ✐s str❛✐❣❤t❢♦r✇❛r❞ ❜② ❦❡❡♣✐♥❣ t❤❡ ❞❡t❡❝t❡❞ ❤✉♠❛♥s ✇✐t❤ t❤❡ ❜✐❣❣❡st ❘❖■✳ ■♥ r❡❛❧✲ ✐t②✱ ❞♦✐♥❣ t❤❡ ❝❛❧✐❜r❛t✐♦♥ ❢♦r ❛ s②st❡♠ ✇✐t❤ ♠✉❧✲ t✐♣❧❡ s❡♥s♦rs ✐s t❤❡ ❝❤❛❧❧❡♥❣✐♥❣ ♣r♦❜❧❡♠✱ ❝❛❧✐❜r❛✲ t✐♦♥ ❡rr♦rs ♥♦r♠❛❧❧② ♦❝❝✉r ✐♥ t❤✐s s②st❡♠✳ ■♥ ♦✉r P❙◆ s②st❡♠✱ t❤❡ ❑✐♥❡❝ts ❛r❡ ❝❛❧✐❜r❛t❡❞ r♦✉❣❤❧② ❜❛s✐♥❣ ♦♥ ♦rt❤♦❣♦♥❛❧ ❝♦♥✜❣✉r❛t✐♦♥ ❛♥❞ ♣❛r❛❧❧❡❧ ❝♦♥✜❣✉r❛t✐♦♥ ✇❤✐❝❤ ❞❡♥♦t❡❞ ✐♥ ❋✐❣✳ ✸ ❛♥❞ ❋✐❣✳ ✹ r❡s♣❡❝t✐✈❡❧②✳ ❙♣❡❝✐✜❝❛❧❧②✱ t❤❡ ♦✛s❡t ✐♥ ❤♦r✐③♦♥t❛❧ ❛♥❞ ✈❡rt✐❝❛❧ ❛①✐s ✭xz ✲♣❧❛♥❡✮ ♦❢ ❑✐♥❡❝ts ✇✐t❤ ♦r✐✲ ❣✐♥ ✐s ♠❡❛s✉r❡❞ ❛♥❞ st♦r❡❞ ❛s ❝❛❧✐❜r❛t✐♦♥ ♣❛r❛♠✲ ❡t❡rs ♦❢ ❡❛❝❤ ❑✐♥❡❝ts✳ ❋✉s✐♦♥ r✉❧❡s ❛r❡ ♣r♦♣♦s❡❞ t♦ t♦❧❡r❛t❡ t❤❡ ❝❛❧✐❜r❛t✐♦♥ ❡rr♦rs ✇❤✐❝❤ ♠❛❦❡s t❤❡ ♦✛s❡ts ♦❢ ✸❉ ❞✐st❛♥❝❡s ♦❢ ❤✉♠❛♥s s✉♣♣♦rt✐♥❣ t❤❡ s❛♠❡ ♣❡rs♦♥ ❞❡t❡❝t❡❞ ❜② ❞✐✛❡r❡♥❝❡ ❑✐♥❡❝ts✳ ❚❤❡ ♣❛r❛❧❧❡❧ s❡tt✐♥❣ ♦❢ ❛ ❑✐♥❡❝t ♣❛✐r ✐♥ P❙◆ s②st❡♠ ✐s ❞❡♣✐❝t❡❞ ✐♥ ❋✐❣✳ ✸✳ ❆s ♦♥❡ ❝❛♥ ♦❜s❡r✈❡✱ ❑✐♥❡❝t ♣❛✐r ❢♦r♠s ❛ ♣❛♥♦r❛♠❛ ✈✐❡✇✳ ❚♦ ♦✈❡r✲ ❝♦♠❡ t❤❡ ♣r♦❜❧❡♠ ♦❢ ❝❛❧✐❜r❛t✐♦♥ ❡rr♦rs✱ t❤❡ ❢✉✲ s✐♦♥ r✉❧❡s ♦❢ t❤❡ ♣❛r❛❧❧❡❧ ❝♦♥✜❣✉r❛t✐♦♥ ♦❢ ❑✐♥❡❝ts ♣❛✐r ❛r❡ ❜❛s❡❞ ♦♥ t❤❡ ❛♥❣❧❡s✱ ✇❤✐❝❤ ❛r❡ ❢♦r♠❡❞ ❜❡t✇❡❡♥ t❤❡ ♣♦s✐t✐♦♥s ♦❢ ❞❡t❡❝t❡❞ ❤✉♠❛♥s ❛♥❞ t❤❡ ❑✐♥❡❝t ❣❧♦❜❛❧ ♦r✐❣✐♥ ♣♦s✐t✐♦♥s✳ ❙♣❡❝✐✜❝❛❧❧②✱ t❤❡ ❛♥❣❧❡ ❜❡t✇❡❡♥ ❛ ♣❡rs♦♥ pti ❛♥❞ k n ✐s θin ✳ ❚❤❡ ❛♥❣❧❡ ❜❡t✇❡❡♥ ♦♥❡ ❞❡t❡❝t❡❞ ❤✉♠❛♥ ❛♥❞ ❝ ✷✵✶✼ ❏♦✉r♥❛❧ ♦❢ ❆❞✈❛♥❝❡❞ ❊♥❣✐♥❡❡r✐♥❣ ❛♥❞ ❈♦♠♣✉t❛t✐♦♥ ✭❏❆❊❈✮ ❱❖▲❯▼❊✿ ✶ | ■❙❙❯❊✿ ✷ | ✷✵✶✼ | ◆♦✈❡♠❜❡r ❑✐♥❡❝t ❝❛♥ ❜❡ ❝❛❧❝✉❧❛t❡❞ ❢r♦♠ t❤❡ ♣♦s✐t✐♦♥ ✈❛❧✲ ✇✐❞t❤ ❛♥❞ t❤❡ ❤✐❣❤ ♦❢ t❤❡✐r ❘❖■✿ ✉❡s✱ ❢♦r ✐♥st❛♥❝❡ tan (θin ) = (Ok n − |xti |) / |zit |✳ if θi1 ≤ θ1 ∧ θi2 ≤ θ2 ❚❤❡ ❋❖❱ ♦❢ ❑✐♥❡❝t ✐❞ n ✐s s❤♦✇♥ ✐♥ t❡r♠s ♦❢ ❛♥✲ then pti ∈ FOV k ∧ ptj ∈ FOV k ❣❧❡ θn ❍❡r❡✱ ❞❡❢❛✉❧t ❋❖❱ ♣❛r❛♠❡t❡rs ♦❢ ❑✐♥❡❝t ❛r❡ ✉s❡❞ s♦ t❤❛t ❡❛❝❤ θn ✐s ✹✸◦ ✳ ■♥ ❝❛s❡ ♦❢ ❤✉♠❛♥ ∧ fusionrulekeeps pti k i ❜❡❧♦♥❣s t♦ t❤❡ ❋❖❱ ♦❢ ♦♥❧② ❑✐♥❡❝t id1 ❞❡♥♦t❡❞ if size ROI pti k > size ROI ptj k ❛s pti (k ) ✭r❡❣✐♦♥ ✶ ✐♥ ❋✐❣✳ ✸✮✱ ♦r ❜❡❧♦♥❣s ❋❖❱ then fusionrulekeeps pti k ♦❢ ♦♥❧② ❑✐♥❡❝t id2 ❞❡♥♦t❡❞ ❛s pti (k ) ✭r❡❣✐♦♥ ✷ ✐♥ ❋✐❣✳ ✸✮✱ t❤❡ ❢✉s✐♦♥ r✉❧❡s ❝❛♥ ❜❡ ❡①♣r❡ss❡❞ ❛s else fusionrulekeeps ptj k ❊q✳ ✭✶✮ ❛♥❞ ❊q✳ ✭✷✮✿ ✭✸✮ O ) ❋✐❣✳ ✸✿ P❛r❛❧❧❡❧ ❝♦✜❣✉r❛t✐♦♥✳ ■♥ t❤❡ ❝❛s❡ ♦❢ ♦rt❤♦❣♦♥❛❧ ❝♦♥✜❣✉r❛t✐♦♥✱ t❤❡ ❑✐♥❡❝ts ♣❛✐rs ❛r❡ s❡t t♦ ❢❛❝❡ ♦♣♣♦s✐t❡❧② ❡❛❝❤ ♦t❤❡r ❛♥❞ t❤❡② ❞♦ ♥♦t ❢♦r♠ ❛ ♣❛♥♦r❛♠❛ ✈✐❡✇ ❛s ❝❛♥ ❜❡ ♦❜s❡r✈❡❞ ✐♥ ❋✐❣✳ ✹✳ ❆s t❤❡ r❡s✉❧ts✱ ✐t ✐s ❞✐✣❝✉❧t t♦ ❞❡t❡r♠✐♥❡ t❤❛t t❤❡ ♣❡rs♦♥ ❛♣♣❡❛rs ✐♥ t❤❡ ❋❖❱ ♦❢ ♦♥❡ ❑✐♥❡❝t ♦r ✐♥ ❋❖❱s ♦❢ ❜♦t❤ ❑✐♥❡❝t ❛s ❞❡s❝r✐❜❡❞ ✐♥ t❤❡ ♣❛r❛❧❧❡❧ ❝♦♥✜❣✉r❛t✐♦♥✳ ❚❤❡ ❢✉s✐♦♥ r✉❧❡s ♦❢ t❤❡ ♦rt❤♦❣♦♥❛❧ s❡tt✐♥❣ ♦❢ t✇♦ ❑✐♥❡❝ts ✐♥ P❙◆ s②st❡♠ ❛s ❋✐❣✳ ✸ t♦ r❡♠♦✈❡ r❡✲ ❞✉♥❞❛♥t ❞❡t❡❝t❡❞ ♣❡♦♣❧❡ ❛r❡ ❜❛s❡❞ ♦♥ t❤❡ r❡❧✲ ❛t✐✈❡ ❞✐st❛♥❝❡s ❜❡t✇❡❡♥ ✸❉ ❣❧♦❜❛❧ ❧♦❝❛t✐♦♥s ♦❢ ❛❧❧ ❞❡t❡❝t❡❞ ♣❡♦♣❧❡s✳ ❚♦ r❡♠♦✈❡ r❡❞✉♥❞❛♥t ❤✉✲ ♠❛♥s ❛❢t❡r ❤✉♠❛♥s ❛r❡ ❞❡t❡❝t❡❞ ❜② ❛❧❧ ❑✐♥❡❝ts ♦❢ P❙◆ s②st❡♠ ✭✴❞❡t❡❝t♦r t♦♣✐❝s✮✱ ✜rst❧② t❤❡ ✸❉ ❊✉❝❧✐❞✐❛♥ ❞✐st❛♥❝❡ ❜❡t✇❡❡♥ t✇♦ ❤✉♠❛♥s i ❛♥❞ j ❛t ❢r❛♠❡ t ✐s ❝❛❧❝✉❧❛t❡❞ ❛s ✐♥ ❊q✳ ✭✹✮✿ dist pti , ptj = xti − xtj + yit − yjt + zit − zjt ✭✹✮ ❙❡❝♦♥❞❧②✱ ❞❡t❡❝t❡❞ ♣❡rs♦♥ j ✐s ❝♦♥s✐❞❡r❡❞ ❛s t❤❡ s❛♠❡ ♣❡rs♦♥ ✇✐t❤ ♣❡rs♦♥ i ✐❢ t❤❡ r❡❧❛t✐✈❡ ❞✐s✲ if θi1 ≤ θ1 ∧ θi2 ≥ θ2 t❛♥❝❡ ♦❢ ✸❉ ♣♦s✐t✐♦♥s ♦❢ t❤❡s❡ ♣❡♦♣❧❡ ❛r❡ ❧♦✇❡r then pti ∈ FOV k ∧ pti ∈ / FOV k ✭✶✮ t❤❛♥ t❤r❡s❤♦❧❞ T d ❛♥❞ ❑✐♥❡❝t ■❉ ♦❢ ♣❡rs♦♥ i ✇❤✐❝❤ ✐♥❞✐❝❛t❡s t❤❡ ♥❛♠❡ ♦❢ ❑✐♥❡❝t ❞❡t❡❝ts t❤✐s ∧ fusionrulekeeps pti k , ♣❡rs♦♥ ✐s ❞✐✛❡r❡♥t ❢r♦♠ ❑✐♥❡❝t ■❉ ♦❢ ♣❡rs♦♥ j ✳ ❯s✐♥❣ ♦♥❧② t❤❡ ✸❉ ❞✐st❛♥❝❡ ❝♦♥❞✐t✐♦♥ ❝❛♥ ❧❡❛❞ t♦ ✉♥✇❛♥t❡❞ r❡♠♦✈✐♥❣ ❞❡t❡❝t❡❞ ❤✉♠❛♥ ✐♥ ❝❛s❡s ♦❢ t❤❡r❡ ❛r❡ ♠❛♥② ❞❡t❡❝t❡❞ ❤✉♠❛♥s st❛②✐♥❣ ❝❧♦s❡ if θi1 ≥ θ1 ∧ θi2 ≤ θ2 t♦❣❡t❤❡r✳ ❚♦ ♦✈❡r❝♦♠❡ t❤✐s ❧✐♠✐t❛t✐♦♥✱ ❝♦♥s✐❞❡r✲ then pti ∈ / FOV k ∧ pti ∈ FOV k ✭✷✮ ✐♥❣ ❡❛❝❤ ❑✐♥❡❝t ■❉ ✇❤✐❝❤ ✐s ❞✐✛❡r❡♥t ❢r♦♠ ❑✐♥❡❝t ■❉ ♦❢ t♦ ❜❡ ❝❤❡❝❦❡❞ ♣❡rs♦♥ i✱ t❤❡ ❢♦❧❧♦✇✐♥❣ ❝♦♥✲ ∧ fusionrulekeeps pti k ❞✐t✐♦♥s ❛r❡ ✉s❡❞ t♦ ❢✉rt❤❡r ❝❤❡❝❦ ✇❤❡t❤❡r t❤❡ ♦t❤❡r ❞❡t❡❝t❡❞ ♣❡♦♣❧❡ ❛r❡ t❤❡ s❛♠❡✳ ◆♦t❡ t❤❛t ❢♦r t❤❡ ♣❡rs♦♥ ❛♣♣❡❛rs ✐♥ ❋❖❱ ♦❢ ♦♥❡ ❑✐♥❡❝t✱ ■♥ ❛♥♦t❤❡r ❝❛s❡✱ ♦♥❡ ❤✉♠❛♥ ❜❡❧♦♥❣s t♦ ❜♦t❤ t❤✐s ❑✐♥❡❝t ❝❛♥ ❞❡t❡❝t t❤✐s ♣❡rs♦♥ ❛s ♦♥❡ ♦❜✲ ❋❖❱ ♦❢ ❑✐♥❡❝t id1 ❛♥❞ ❑✐♥❡❝t id2 ✭r❡❣✐♦♥ ✸ ✐♥ ❥❡❝t✳ ❚❤❛t ✐s✱ ✐❢ t❤❡r❡ ❛r❡ ♠♦r❡ t❤❛♥ ♦♥❡ ♣❡♦♣❧❡ ❋✐❣✳ ✸✮✱ t❤❡s❡ ❤✉♠❛♥s ❛r❡ ❞❡t❡❝t❡❞ ❛s pti k ❤❛✈✐♥❣ s❛♠❡ t❤✐s ❑✐♥❡❝t ■❉ ❛♥❞ ✸❉ ❞✐st❛♥❝❡s ♦❢ ❛♥❞ ptj k ✱ t❤❡ ❢✉s✐♦♥ r✉❧❡s ✇✐❧❧ s❡❧❡❝t t❤❡ ❤✉✲ t❤❡s❡ ♣❡♦♣❧❡ ❛♥❞ ♣❡rs♦♥ i ❛r❡ ❧♦✇❡r t❤❛♥ ❞✐st❛♥❝❡ ♠❛♥ ❢r♦♠ ❡✐t❤❡r ❑✐♥❡❝t id1 ♦r ❑✐♥❡❝t id2✳ ❚❤❡ T d✱ ♦♥❧② ♦♥❡ ♣❡rs♦♥ ✇❤♦ ②✐❡❧❞s t❤❡ s♠❛❧❧❡st ❞✐s✲ ❤✉♠❛♥ ✇✐t❤ t❤❡ ❜✐❣❣❡r ❘❖■ ✇✐❧❧ ❜❡ ❦❡♣t ❛❢t❡r t❛♥❝❡ ✇✐t❤ ♣❡rs♦♥ i ✇✐❧❧ ❜❡ ❝❤♦s❡♥ ❛s ♣❡rs♦♥ i ❢✉s✐♥❣ ❛s ❞❡♣✐❝t❡❞ ✐♥ ❊q✳ ✭✸✮✳ ◆♦t❡ t❤❡ s✐③❡ ♦❢ ❞❡t❡❝t❡❞ ❜② t❤✐s ❑✐♥❡❝t ■❉✳ ❚❤❡ s❛♠❡ ♠❡t❤♦❞ ✐s ❘❖■ ♦❢ ♣❡♦♣❧❡ ❛r❡ ❝❛❧❝✉❧❛t❡❞ ❜② ♠✉❧t✐♣❧②✐♥❣ t❤❡ ✉s❡❞ ❢♦r ❛❧❧ ❑✐♥❡❝t ✐♥ P❙◆ s②st❡♠✳ ❚❤❡ ❊q✳ ✭✺✮ ❝ ✷✵✶✼ ❏♦✉r♥❛❧ ♦❢ ❆❞✈❛♥❝❡❞ ❊♥❣✐♥❡❡r✐♥❣ ❛♥❞ ❈♦♠♣✉t❛t✐♦♥ ✭❏❆❊❈✮ ✶✶✼ ❱❖▲❯▼❊✿ ✶ ❞❡s❝r✐❜❡s t❤❡ ❛❜♦✈❡ ❝♦♥❞✐t✐♦♥s✳ ■♥ ♦✉r s②st❡♠✱ ❑✐♥❡❝ts ❛r❡ ❝❛❧✐❜r❛t❡❞ t♦ ❝♦♥✈❡rt ❡❛❝❤ ❧♦❝❛❧ ✸❉ ♣♦s✐t✐♦♥ ❞❡t❡❝t❡❞ ❜② ❑✐♥❡❝t ❝♦♦r❞✐♥❛t❡ t♦ ❣❧♦❜❛❧ P❙◆ ❝♦♦r❞✐♥❛t❡✳ ■❢ ❑✐♥❡❝ts ❛r❡ ❝❛❧✐❜r❛t❡❞ ♣❡r✲ ❢❡❝t❧②✱ t❤❡ ✸❉ ❊✉❝❧✐❞✐❛♥ ❞✐st❛♥❝❡s ❝❛❧❝✉❧❛t❡❞ ❜② ❊q✳ ✭✹✮ ❛♣♣r♦❛❝❤ t♦ ③❡r♦✳ ■♥ ♦✉r P❙◆ s②st❡♠✱ ✇❡ s❡t T d = 0.5 t♦ t♦❧❡r❛t❡ t❤❡ ❝❛❧✐❜r❛t✐♦♥ ❡rr♦rs ❜❡✲ t✇❡❡♥ ❑✐♥❡❝ts✳ ❋✐♥❛❧❧②✱ s✉♣♣♦rt✐♥❣ t❤❛t ❢♦r ♦♥❡ ❞❡t❡❝t❡❞ ♣❡rs♦♥ t❤❡r❡ ❛r❡ ♥✉♠❜❡rs ♦❢ ♣❡♦♣❧❡ ❞❡✲ t❡❝t❡❞ ❜② P❙◆ ❑✐♥❡❝ts ✇❤♦ ❛r❡ ❝♦♥s✐❞❡r❡❞ ❛s t❤❡ s❛♠❡ ♣❡rs♦♥ ❛❢t❡r ❛❜♦✈❡ ❝♦♥s✐❞❡r❛t✐♦♥s✱ ♦♥❧② ♦♥❡ ♣❡rs♦♥ ✇✐t❤ ❜✐❣❣❡st ❘❖■ ✇✐❧❧ ❜❡ ❦❡♣t ❛♥❞ ♦t❤❡rs ✇✐❧❧ ❜❡ r❡♠♦✈❡❞ ❛❢t❡r ❢✉s✐♥❣✳ ❊q✳ ✭✺✮✿ if dist pti , ptj ∗ < T d ∧ kinect id pti = kinect id ptj ∗ | ■❙❙❯❊✿ ✷ | ✷✵✶✼ | ◆♦✈❡♠❜❡r ✐♥❝♦rr❡❝t❧② ❛❢t❡r ❢✉s✐♥❣✳ ❚❤❡ ❡rr♦rs ❤❛♣♣❡♥ ❡❛s✲ ✐❧② ✐❢ t❤❡ t✇♦ ❞✐✛❡r❡♥t ❤✉♠❛♥s ②✐❡❧❞ t❤❡ ❞✐s✲ t❛♥❝❡ t❤❛t ❧♦✇❡r t❤❛♥ t❤❡ ❞✐st❛♥t t❤r❡s❤♦❧❞✳ ■❢ t❤✐s s✐t✉❛t✐♦♥ ♦❝❝✉rs✱ t❤❡♥ ♦♥❧② ♦♥❡ ♣❡rs♦♥ ✇✐t❤ t❤❡ ❜✐❣❣❡st ❘❖■ ✐s ❦❡♣t ❛♥❞ t❤❡ ♦t❤❡r ♣❡rs♦♥ ✐s r❡♠♦✈❡❞ ✐♥❝♦rr❡❝t❧② ❛❢t❡r ❢✉s✐♥❣✳ ❚❤❡r❡❢♦r❡✱ ✐♥st❡❛❞ ♦❢ ✉s✐♥❣ ✸❉ ❞✐st❛♥❝❡ ❜❡t✇❡❡♥ ❤✉♠❛♥s✱ t❤❡ ❢✉s✐♦♥ r✉❧❡s ♦❢ ♣❛r❛❧❧❡❧ ❝♦♥✜❣✉r❛t✐♦♥ ♦❢ t✇♦ ❑✐♥❡❝ts ✐♥ P❙◆ s②st❡♠ ❛s ❋✐❣✳ ✹ ❛r❡ ❜❛s❡❞ ♦♥ t❤❡ ❛♥❣❧❡s✱ ✇❤✐❝❤ ❛r❡ ❢♦r♠❡❞ ❜❡t✇❡❡♥ t❤❡ ❤✉✲ ♠❛♥ ♣♦s✐t✐♦♥s ❛♥❞ t❤❡ ❑✐♥❡❝t ❣❧♦❜❛❧ ♦r✐❣✐♥ ♣♦s✐✲ t✐♦♥s✳ ❚♦ ♦✈❡r❝♦♠❡ t❤❡ ❢✉s✐♦♥ ❡rr♦rs ✇❤❡♥ ❛♣♣❧②✲ ✐♥❣ ❞✐st❛♥❝❡✲❜❛s❡❞ r✉❧❡s t♦ t❤❡ ♦rt❤♦❣♦♥❛❧ ❝♦♥✲ ✜❣✉r❛t✐♦♥✱ ✇❡ s❤♦✉❧❞ ✐♠♣❧❡♠❡♥t t❤❡ ❝❛❧✐❜r❛t✐♦♥ st❡♣s ♣r❡❝✐s❡❧② t♦ r❡❞✉❝❡ t❤❡ ❝❛❧✐❜r❛t✐♦♥s ❡rr♦rs✳ ∧ j = arg dist pti , ptj ∗ j ∗ ∈D ✭✺✮ then ptj same as pti if size ROI pti > size ROI ✹✳ ❊①♣❡r✐♠❡♥t❛❧ ❘❡s✉❧ts ptj ❚❤❡ s❡♥s✐t✐✈✐t② ♦❢ ❖♣❡♥♥✐ ♠❡t❤♦❞✱ ✇❤✐❝❤ ✐s ✉s❡❞ t♦ ❞❡t❡❝t ❤✉♠❛♥✱ ✐s ❛❜♦✉t ✵✳✺ s❡❝♦♥❞s✳ ❚❤✐s else fusionrulekeeps ♠❡❛♥s t❤❛t ✇❤❡♥ ❤✉♠❛♥ ❛♣♣❡❛r ✐♥ t❤❡ ❑✐♥❡❝t ✇❤❡r❡ D ✐s t❤❡ s❡t ♦❢ ❞❡t❡❝t❡❞ ❤✉♠❛♥s ✇❤♦s❡ ❋❖❱✱ ❖♣❡♥♥✐ t❛❦❡s ✵✳✺ s❡❝♦♥❞s t♦ ❞❡t❡❝t t❤✐s ❤✉✲ t❤❡ ❞✐st❛♥❝❡ ❝❛❧❝✉❧❛t❡❞ ❛s ❊q✳ ✭✹✮ ❜❡t✇❡❡♥ ❡❛❝❤ ♠❛♥✳ ■♥ ♦✉r ❡①♣❡r✐♠❡♥ts s❝❡♥❛r✐♦s✱ t❤❡ ❤✉♠❛♥s ♦❢ t❤❡✐r ✸❉ ❧♦❝❛t✐♦♥s ❛♥❞ ✸❉ ❧♦❝❛t✐♦♥ ♦❢ t♦ ❜❡ ❡♥t❡r t❤❡ ❑✐♥❡❝t ❋❖❱ ❛♥❞ st❛② st❛t✐❝ ❛❜♦✉t ♦♥❡ s❡❝♦♥❞ ❛t t❤❡ ❞❡✜♥❡❞ ♣♦s✐t✐♦♥s ❜❡❢♦r❡ ♠♦✈✐♥❣✳ ❝❤❡❝❦❡❞ ♣❡rs♦♥ i ✐s ❧♦✇❡r t❤❛♥ t❤r❡s❤♦❧❞ T d✳ ◆♦t❡ t❤❛t st❛②✐♥❣ ✐♥ t❤❡s❡ ♣♦s✐t✐♦♥s✱ ✇❤✐❝❤ ✐♥ t❤❡ ❋❖❱ ♦❢ ♠✉❧t✐♣❧❡ ❑✐♥❡❝t ❣✉❛r❛♥t❡❡s t❤❛t t❤❡s❡ O ❤✉♠❛♥s ❛r❡ ❞❡t❡❝t❡❞ ❜② ❛t ❧❡❛st ♦♥❡ ❑✐♥❡❝t✳ ❚❤❡ r❡s✉❧ts ♦❢ ❲❍❊❘❊ ❢✉s✐♦♥ ❢♦r t❤❡ t✇♦ ❑✐♥❡❝ts ✇✐t❤ ♣❛r❛❧❧❡❧ ❝♦♥✜❣✉r❛t✐♦♥s ❛r❡ s❤♦✇♥ ✐♥ ❋✐❣✳ ✺✳ ❚❤❡ ❞❡t❡❝t❡❞ ❤✉♠❛♥s ❛r❡ ❞❡♥♦t❡❞ ❛s r❡❝t❛♥❣✉✲ ❧❛r ❜♦①❡s✳ ◆♦t❡ t❤❛t t❤❡ ❞❡t❡❝t❡❞ ❤✉♠❛♥s ❛❢t❡r Min 3D distance ❢✉s✐♥❣ ❛r❡ ❞❡♥♦t❡❞ ❛s t❤❡ ❣r❡❡♥ ❜♦①❡s ✇✐t❤ ❛ ♥✉♠❜❡r ❛♥❞ t❤❡ r❡❞✉♥❞❛♥t ❞❡t❡❝t❡❞ ❤✉♠❛♥s ❛r❡ ) ❞❡♥♦t❡❞ ❛s ②❡❧❧♦✇ r❡❝t❛♥❣❧❡ ✇✐t❤♦✉t ♥✉♠❜❡r✐♥❣✱ r❡s♣❡❝t✐✈❡❧②✳ ■♥ ❋✐❣✳ ✺ t❤❡ p09 ❜❡❧♦♥❣s t♦ ❜♦t❤ ❋❖❱ ♦❢ ❑✐♥❡❝t✶ ❛♥❞ ❋❖❱ ♦❢ ❑✐♥❡❝t✷ ❛❢t❡r ❢✉s✐♥❣ Same person t❤❡ ❘❖■ ♦❢ t❤❡ ❤✉♠❛♥ ✐♥ ❑✐♥❡❝t✶ ✐s ❦❡♣t s✐♥❝❡ t❤❡ s✐③❡ ♦❢ t❤❡ ❘❖■ ♦❢ t❤✐s ♣❡rs♦♥ ✐s ❜✐❣❣❡r ❛s ❞❡s❝r✐❜❡❞ ✐♥ ❊q✳ ✭✸✮✳ ❖♥ t❤❡ ♦t❤❡r ❤❛♥❞✱ p01✱ p02✱ p03 ❜❡❧♦♥❣ ♦♥❧② t♦ ♦♥❡ ❑✐♥❡❝t ❋❖❱ s♦ ✐t ✐s ❦❡♣t ❜② ❢✉s✐♦♥ r✉❧❡s✳ then fusionrulekeeps pti ptj , ❋✐❣✳ ✹✿ ❖rt❤♦❣♦♥❛❧ ❝♦♥✜❣✉r❛t✐♦♥✳ ❖❜✈✐♦✉s❧②✱ t❤❡ ❞✐st❛♥t t❤r❡s❤♦❧❞ T d ❛✛❡❝ts t❤❡ ❢✉s✐♦♥ r❡s✉❧ts✳ ■❢ ❢✉s✐♦♥ r✉❧❡s ❛♣♣❧✐❡❞ ❢♦r ♦rt❤♦❣♦✲ ♥❛❧ ❝♦♥✜❣✉r❛t✐♦♥ ❜❛s❡❞ ♦♥ r❡❧❛t✐✈❡ ❞✐st❛♥❝❡s ❜❡✲ t✇❡❡♥ ✸❉ ♣♦s✐t✐♦♥s ❛r❡ ✉s❡❞ ❢♦r ♣❛r❛❧❧❡❧ ❝♦♥✜❣✲ ✉r❛t✐♦♥✱ t❤❡ ❞❡t❡❝t❡❞ ❤✉♠❛♥s ❝❛♥ ❜❡ r❡♠♦✈❡❞ ✶✶✽ ❚❤❡ r❡s✉❧ts ♦❢ ❲❍❊❘❊ ❢✉s✐♦♥ ❢♦r ♦rt❤♦❣♦♥❛❧ ❝♦♥✜❣✉r❛t✐♦♥ ♦❢ t✇♦ ❑✐♥❡❝t ✇✐t❤ id1 ❛♥❞ id3 ❛r❡ s❤♦✇♥ ✐♥ ❋✐❣✳ ✻✳ ❚❤❡r❡ ❛r❡ s✐① ❞❡t❡❝t❡❞ ❤✉♠❛♥s ❛♥❞ ❛❢t❡r ❞♦✐♥❣ ❢✉s✐♦♥ t❤❡ s②st❡♠ r❡♠♦✈❡s t❤r❡❡ r❡❞✉♥❞❛♥t ❞❡t❡❝t❡❞ ♦♥❡s ❛♥❞ ❦❡❡♣ t❤❡ ❝♦rr❡❝ts t❤❡ ♥✉♠❜❡r ♦❢ ❤✉♠❛♥s ❛♣♣❡❛r✐♥❣ ✐♥ t❤❡ ❋❖❱ ♦❢ ❝ ✷✵✶✼ ❏♦✉r♥❛❧ ♦❢ ❆❞✈❛♥❝❡❞ ❊♥❣✐♥❡❡r✐♥❣ ❛♥❞ ❈♦♠♣✉t❛t✐♦♥ ✭❏❆❊❈✮ ❱❖▲❯▼❊✿ ✶ ❋✐❣✳ ✺✿ ❜❡ ❝♦♥s✐❞❡r❡❞ ❛s t❤❡ s❛♠❡ ❤✉♠❛♥✳ ❚❤❡ ♣❡♦♣❧❡ ✇❤♦ st❛② ♥❡❛r t❤❡ ❜♦r❞❡r ♦❢ ❑✐♥❡❝ts ✇✐❧❧ ❤❛✈❡ t❤❡ s♠❛❧❧ ✸❉ ❞✐st❛♥❝❡s✳ ❚❤❡s❡ ❞✐st❛♥❝❡s ❝❛♥ ❜❡ ❧♦✇❡r t❤❛♥ ❞✐st❛♥❝❡ t❤r❡s❤♦❧❞ T d ✭❛r❡ s❡t ❛s ✵✳✺✮ ✇❤✐❝❤ ✉s❡ t♦ ❞❡t❡r♠✐♥❡ t❤❡ s❛♠❡ ♣❡rs♦♥ ❢r♦♠ ❞❡✲ t❡❝t❡❞ ♣❡♦♣❧❡✳ ❚❤❡ ♣❡♦♣❧❡ ❛r❡ ❞❡♥♦t❡❞ ❛s p01✱ p02✱ p03 ❛r❡ ❝♦♥s✐❞❡r❡❞ ❛s t❤❡ s❛♠❡ ♣❡rs♦♥ ❛♥❞ ❲❍❊❘❊ ❢✉s✐♦♥ ♦❢ t❤❡ ♣❛r❛❧❧❡❧ ❝♦♥✜❣✉r❛t✐♦♥ ✭❦❡❡♣s ❝♦rr❡❝t❧② ✹ ❞❡t❡❝t❡❞ ❤✉♠❛♥s ✭r❡❞ ❘❖■ ❛❢t❡r ✉s✐♥❣ ❢✉s✐♥❣ r✉❧❡s ❜❛s❡❞ ♦♥ ✸❉ ❧♦❝❛t✐♦♥✱ t❤❡ ❤✉♠❛♥ p03 ❛r❡ r❡♠♦✈❡❞ ✐♥❝♦rr❡❝t❧② ❛♥❞ ✐s ♥♦t r❡❝t❛♥❣✉❧❛r✮ ❢r♦♠ t♦t❛❧ ✺ ❞❡t❡❝t❡❞ ❤✉♠❛♥s✮✳ s❤♦✇♥ ❛s t❤❡ ❣r❡❡♥ ❜♦①❡s ✐♥ ✜♥❛❧ ❢✉s✐♦♥ r❡s✉❧ts✳ ♦rt❤♦❣♦♥❛❧ ❝♦♥✜❣✉r❛t✐♦♥ ❑✐♥❡❝t id1 ❛♥❞ ❑✐♥❡❝t id3 ❛s t❤r❡❡ ♣❡♦♣❧❡✳ Kinect2 Kinect1 p01 ❋✐❣✳ ✼✿ ❋✐❣✳ ✻✿ | ■❙❙❯❊✿ ✷ | ✷✵✶✼ | ◆♦✈❡♠❜❡r p02 p03 ❲❍❊❘❊ ❢✉s✐♦♥ ❦❡❡♣s ♦♥❧② ✶ ❞❡t❡❝t❡❞ ❤✉♠❛♥ ✐♥st❡❛❞ ♦❢ t✇♦ ❤✉♠❛♥ st❛②✐♥❣ ♥❡❛r t❤❡ ❜♦r❞❡r ♦❢ t✇♦ ❑✐♥❡❝ts✳ ❚❤❡ r❡s✉❧ts ✇✐t❤ ❢♦✉r ❑✐♥❡❝ts ❝♦♥✜❣✉r❛t✐♦♥s ❛r❡ s❤♦✇❡❞ ✐♥ ❋✐❣✳ ✽ ❛♥❞ ❋✐❣✳ ✾✳ ◆♦t❡ t❤❛t t❤❡ ♣❛r❛❧❧❡❧ ❝♦♥✜❣✉r❛t✐♦♥s ❛r❡ ❛♣♣❧✐❡❞ ❢♦r t❤❡ ❑✐♥❡❝t id1 ❛♥❞ ❑✐♥❡❝t id2 ❛♥❞ t❤❡ ❑✐♥❡❝t id3 ❛♥❞ ❑✐♥❡❝t id4 ♣❛✐rs✳ ❚❤❡ ♦rt❤♦❣♦♥❛❧ ❝♦♥✜❣✉r❛✲ t✐♦♥s ❛r❡ ❛♣♣❧✐❡❞ ❢♦r t❤❡ ❑✐♥❡❝t id1 ❛♥❞ ❑✐♥❡❝t id3 ❛♥❞ t❤❡ ❑✐♥❡❝t id2 ❛♥❞ ❑✐♥❡❝t id4 ♣❛✐rs✳ ❚❤❡ ❞❡t❡❝t❡❞ ❤✉♠❛♥s ❛r❡ ❞❡♥♦t❡❞ ❛s r❡❝t❛♥❣✉❧❛r ❜♦①❡s t♦❣❡t❤❡r ✇✐t❤ t❤❡✐r ❝♦rr❡s♣♦♥❞❡♥❝❡ ♥❛♠❡s✳ ❆s t❤❡ r❡s✉❧ts ♦❢ ✇❤❡r❡ ❢✉s✐♦♥ ♠❡t❤♦❞✱ t❤❡ r❡✲ ❞✉♥❞❛♥t ❤✉♠❛♥s t❤❛t ❞❡t❡❝t❡❞ ❜② ❑✐♥❡❝ts ❛r❡ r❡♠♦✈❡❞ ❛♥❞ t❤❡ ♥✉♠❜❡r ♦❢ ❞❡t❡❝t❡❞ ❤✉♠❛♥s ❛♥❞ t❤❡✐r ❘❖■s ❛s ✇❡❧❧ ❛s ♥❛♠❡s ❛r❡ ❞✐s♣❧❛②❡❞ ❲❍❊❘❊ ❢✉s✐♦♥ ♦❢ ♦rt❤♦❣♦♥❛❧ ❝♦♥✜❣✉r❛t✐♦♥ ❝♦rr❡❝t❧② ❜② t❤❡ P❙◆ s②st❡♠✳ ✭❦❡❡♣s ❝♦rr❡❝t❧② ✸ ❞❡t❡❝t❡❞ ❤✉♠❛♥s ✭❣r❡❡♥ ❘❖■ r❡❝t❛♥❣✉❧❛r✮ ❢♦r♠ t♦t❛❧ ✻ ❞❡t❡❝t❡❞ ❤✉♠❛♥s✮✳ ■♥ ❋✐❣✳ ✼✱ ✇❡ ❝❛♥ ♦❜s❡r✈❡ t❤❡ ♣r♦❜❧❡♠ ✇❤❡♥ ✇❡ ✉s❡ ❞✐st❛♥❝❡ ❜❛s❡❞ r✉❧❡s t♦ r❡♠♦✈❡ t❤❡ r❡❞✉♥✲ ❞❛♥t ❞❡t❡❝t❡❞ ❤✉♠❛♥s ✐♥ t❤❡ ♣❛r❛❧❧❡❧ ❝♦♥✜❣✉r❛✲ t✐♦♥✳ ❙❡❧❡❝t✐♥❣ t❤❡ ❞✐st❛♥❝❡ t❤r❡s❤♦❧❞ T d ❛✛❡❝ts t❤❡ r❡s✉❧ts ♦❢ ❢✉s✐♦♥✳ ■❢ t❤❡ ❧❛r❣❡ t❤r❡s❤♦❧❞ T d ✐s s❡❧❡❝t❡❞ t❤❡r❡ ❛r❡ ♠♦r❡ ❞❡t❡❝t❡❞ ♣❡♦♣❧❡ ✇✐❧❧ ❚❤❡ ♣r♦♣♦s❡❞ ♠❡t❤♦❞ ✐s ❝♦♠♣❛r❡❞ ✇✐t❤ t❤❡ ♠❡t❤♦❞ ✉s❡❞ ✐♥ r❡❢❡r❡♥❝❡ ❬✶✹❪✳ ◆♦t❡ t❤❛t t❤❡ ❢✉✲ s✐♦♥ r✉❧❡s ♦❢ ❬✶✹❪ ❛r❡ t❤❡ s❛♠❡ ❛s ❬✶✷❪ ❛♥❞ ❬✶✸❪✳ ❚❤❡ r❡s✉❧ts ❛r❡ ♣r♦✈✐❞❡ ✐♥ ❋✐❣✳ ✾✳ ❆s ♦♥❡ ❝❛♥ s❡❡ ✐♥ ❋✐❣✳ ✾✭❜✮✱ t♦t❛❧ ♥✉♠❜❡rs ♦❢ ❤✉♠❛♥s ✐♥ ❋❖❱ ♦❢ ❢♦✉r ❑✐♥❡❝ts ❛r❡ ✶✻ ❛♥❞ ❛❢t❡r ✉s✐♥❣ ♣r♦♣♦s❡❞ ❢✉s✐♦♥ r✉❧❡s✱ t❤❡ ♥✉♠❜❡r ♦❢ ❤✉♠❛♥s ❛r❡ ❦❡♣t ❝♦r✲ r❡❝t❧② ❢r♦♠ ✷✵ ❞❡t❡❝t❡❞ ❤✉♠❛♥s✳ ❖♥ t❤❡ ♦t❤❡r ❝ ✷✵✶✼ ❏♦✉r♥❛❧ ♦❢ ❆❞✈❛♥❝❡❞ ❊♥❣✐♥❡❡r✐♥❣ ❛♥❞ ❈♦♠♣✉t❛t✐♦♥ ✭❏❆❊❈✮ ✶✶✾ ❱❖▲❯▼❊✿ ✶ | ■❙❙❯❊✿ ✷ | ✷✵✶✼ | ◆♦✈❡♠❜❡r ✜❝✐❡♥t❧②✳ ❚❤❡ ♣r♦♣♦s❡❞ ❢✉s✐♦♥ ♠❡t❤♦❞ ❡♥❤❛♥❝❡s t❤❡ ❤✉♠❛♥ ❞❡t❡❝t✐♦♥ ❛♥❞ tr❛❝❦✐♥❣✳ ❚❡st✐♥❣ t❤❡ ❝❛❧✐❜r❛t✐♦♥ ❡rr♦rs ✐s t❤❡ ♣♦t❡♥t✐❛❧ ❢✉t✉r❡ r❡s❡❛r❝❤ t♦♣✐❝s✳ ❋✐❣✳ ✽✿ ❲❍❊❘❊ ❢✉s✐♦♥ ❦❡❡♣s ❝♦rr❡❝t❧② ✹ ❞❡t❡❝t❡❞ ❤✉✲ ♠❛♥s ✭❣r❡❡♥ ❘❖■ r❡❝t❛♥❣✉❧❛r✮ ❢r♦♠ t♦t❛❧ ✾ ❞❡✲ t❡❝t❡❞ ❤✉♠❛♥s ✐♥ ❢♦✉r ❑✐♥❡❝ts ✇✐t❤ ♣❛r❛❧❧❡❧ ❛♥❞ ♦rt❤♦❣♦♥❛❧ ❝♦♥✜❣✉r❛t✐♦♥s ❤❛♥❞✱ ✉s✐♥❣ ♠❡t❤♦❞s ✐♥ ❬✶✹❪✱ t✇♦ ❤✉♠❛♥ ❛t t❤❡ ❜♦r❞❡r ♦❢ ❑✐♥❡❝ts ❛r❡ ♥♦t ❦❡♣t ❛❢t❡r ❢✉s✐♦♥✳ ❙✐♥❝❡ t❤❡ r❡❢❡r❡♥❝❡ ❬✶✹❪ ✉s❡ ♦♥❧② ♦♥❡ ❞✐st❛♥❝❡ ❝r✐t❡✲ r✐♦♥ ♦❢ ❞❡t❡❝t❡❞ ❤✉♠❛♥s t♦ ❞❡t❡r♠✐♥❡ t❤❡ s❛♠❡ ❤✉♠❛♥ ❛♥❞ t❤❡ r❡❞✉♥❞❛♥t ❞❛t❛ ✐s ❞❡t❡r♠✐♥❡❞ ✐❢ t❤❡ ✸❉ ❊✉❝❧✐❞✐❛♥ ❞✐st❛♥❝❡ ❜❡t✇❡❡♥ ♦❜❥❡❝ts ✐s ❧♦✇❡r t❤❛♥ t❤r❡s❤♦❧❞✱ t❤✐s ❢✉s✐♦♥ r✉❧❡ r❡♠♦✈❡ ❤✉✲ ♠❛♥s ✇r♦♥❣❧② ✐❢ ❞✐✛❡r❡♥t ❤✉♠❛♥s st❛② ❝❧♦s❡❧② ❡❛❝❤ ♦t❤❡r✳ ❖♥❡ ♦t❤❡r ❤❛♥❞✱ t❤❡ ❢✉s✐♦♥ r✉❧❡s ♦❢ ♣r♦♣♦s❡❞ ♠❡t❤♦❞ ❛r❡ ❜❛s❡❞ ♦♥ t❤❡ ❑✐♥❡❝ts ❝♦♥✲ ✜❣✉r❛t✐♦♥✳ ❋♦r ♦rt❤♦❣♦♥❛❧ ❝♦♥✜❣✉r❛t✐♦♥✱ ❜❡s✐❞❡ t❤❡ ❞✐st❛♥❝❡ ❝r✐t❡r✐♦♥✱ t❤❡ ♣r♦♣♦s❡❞ ♠❡t❤♦❞ ✉s❡s ♦t❤❡r ❝r✐t❡r✐♦♥s s✉❝❤ ❛s ❑✐♥❡❝t ✐❞ ♦❢ ❞❡t❡❝t❡❞ ❤✉✲ ♠❛♥ ❛♥❞ s♠❛❧❧❡st ❞✐st❛♥t t♦ ❞❡t❡r♠✐♥❡ t❤❡ s❛♠❡ ❤✉♠❛♥ ❞❡t❡❝t❡❞ ❜② ❞✐✛❡r❡♥t ❑✐♥❡❝ts✳ ❋♦r ♣❛r✲ ❋✐❣✳ ✾✿ ❈♦♠♣❛r✐s♦♥ ❜❡t✇❡❡♥ ♣r♦♣♦s❡❞ ♠❡t❤♦❞ ✇✐t❤ ♠❡t❤♦❞ ❬✶✹❪✳ ✭❛✮ ❘❡s✉❧t ♦❢ ❬✶✹❪✱ ✭❜✮ r❡s✉❧t ♦❢ ❛❧❧❡❧ ❝♦♥✜❣✉r❛t✐♦♥✱ t❤❡ ❢✉s✐♦♥ r✉❧❡s ❛r❡ ❜❛s❡❞ ♦♥ ♣r♦♣♦s❡❞ ♠❡t❤♦❞✳ t❤❡ ❛♥❣❧❡s ❢♦r♠❡❞ ❜❡t✇❡❡♥ ❞❡t❡❝t❡❞ ❤✉♠❛♥ ❛♥❞ ❑✐♥❡❝t ♦r✐❣✐♥✳ ❚❤❡ ❝♦♠❜✐♥❛t✐♦♥ ♦❢ t❤❡s❡ ❢✉s✐♦♥ r✉❧❡s ❡❧✐♠✐♥❛t❡s ✉♥✇❛♥t❡❞ ❝❛s❡s ♦❢ t❤❡ r❡♠♦✈✐♥❣ ❞❡t❡❝t❡❞ ❤✉♠❛♥s✳ ❆❝❦♥♦✇❧❡❞❣♠❡♥t ✺✳ ❈♦♥❝❧✉s✐♦♥s ❛♥❞ ❋✉t✉r❡ ❲♦r❦s ❚❤✐s r❡s❡❛r❝❤ ✇❛s s✉♣♣♦rt❡❞ ❜② ❙❡♥s♦r ◆❡t✲ ✇♦r❦ ❋✉s✐♦♥ Pr♦❣r❛♠ t❤r♦✉❣❤ t❤❡ ▼✐♥✐str② ♦❢ ❚r❛❞❡✱ ■♥❞✉str② ❛♥❞ ❊♥❡r❣② ✭●r❛♥t ◆✉♠❜❡r✿ ✶✵✵✹✶✻✷✾✮✳ ❯s✐♥❣ t❤❡ ❞✐st❛♥❝❡s ❜❡t✇❡❡♥ ❤✉♠❛♥s ✐♥ ♦rt❤♦❣✲ ♦♥❛❧ ❝♦♥✜❣✉r❛t✐♦♥ ❛♥❞ ❛♥❣❧❡s ❜❡t✇❡❡♥ ❞❡t❡❝t❡❞ ❤✉♠❛♥s ❛♥❞ ❑✐♥❡❝ts ♦r✐❣✐♥s t❤❡ P❙◆ s②st❡♠ ✐♥ ❘❡❢❡r❡♥❝❡s ♣❛r❛❧❧❡❧ ❝♦♥✜❣✉r❛t✐♦♥✱ t❤❡ ♣r♦♣♦s❡❞ ❢✉s✐♦♥ ♠❡t❤✲ ♦❞s ❝❛♥ r❡♠♦✈❡ t❤❡ r❡❞✉♥❞❛♥t ❞❡t❡❝t❡❞ ❤✉♠❛♥s ❬✶❪ ❩❍❆❖✱ ❚✳ ❛♥❞ ❘✳ ◆❊❱❆❚■❆✳ ❚r❛❝❦✐♥❣ ❛♥❞ ❦❡❡♣ ❝♦rr❡❝t ♥✉♠❜❡r ♦❢ ❞❡t❡❝t❡❞ ❤✉♠❛♥s ❡❢✲ ♠✉❧t✐♣❧❡ ❤✉♠❛♥s ✐♥ ❝r♦✇❞❡❞ ❡♥✈✐r♦♥♠❡♥t✳ ✶✷✵ ❝ ✷✵✶✼ ❏♦✉r♥❛❧ ♦❢ ❆❞✈❛♥❝❡❞ ❊♥❣✐♥❡❡r✐♥❣ ❛♥❞ ❈♦♠♣✉t❛t✐♦♥ ✭❏❆❊❈✮ ❱❖▲❯▼❊✿ ✶ ■❊❊❊ ❈♦♠♣✉t❡r ❙♦❝✐❡t② ❈♦♥❢❡r❡♥❝❡ ♦♥ ❈♦♠♣✉t❡r ❱✐s✐♦♥ ❛♥❞ P❛tt❡r♥ ❘❡❝♦❣♥✐t✐♦♥✳ ■♥✿ ❲❛s❤✐♥❣t♦♥✿ ■❊❊❊✱ ✷✵✵✹✱ ♣♣✳ ✹✵✻✕✹✶✸✳ | ■❙❙❯❊✿ ✷ | ✷✵✶✼ | ◆♦✈❡♠❜❡r ❆♣♣r♦❛❝❤ ❯s✐♥❣ ❛♥ ❘●❇✲❉❡♣t❤ ❈❛♠❡r❛ ❛♥❞ ▲✐❉❆❘ ❙❡♥s♦r ❋✉s✐♦♥✳ ■❊❊❊ ❚r❛♥s✲ ❛❝t✐♦♥s ♦♥ ■♥❞✉str✐❛❧ ❊❧❡❝tr♦♥✐❝s✳ ✷✵✶✻✱ ✈♦❧✳ ✻✸✱ ✐ss✳ ✻✱ ♣♣✳ ✸✼✷✺✕✸✼✸✻✳ ❬✷❪ ❖◆●✱ ❑✳ ❙✳✱ ❨✳ ❍✳ ❍❙❯ ❛♥❞ ▲✳ ❈✳ ❋❯✳ ❙❡♥s♦r ❢✉s✐♦♥ ❜❛s❡❞ ❤✉♠❛♥ ❞❡t❡❝t✐♦♥ ❛♥❞ ❬✶✶❪ ❳❯❊✱ ❏✳✱ ❉✳ ❲❆◆●✱ ❙✳ ❉❯✱ ❉✳ ❈❯■✱ tr❛❝❦✐♥❣ s②st❡♠ ❢♦r ❤✉♠❛♥✲r♦❜♦t ✐♥t❡r❛❝✲ ❨✳ ❍❯❆◆● ❛♥❞ ◆✳ ❩❍❊◆●✳ ❆ ✈✐s✐♦♥✲ t✐♦♥✳ ■♥✿ ■♥t❡r♥❛t✐♦♥❛❧ ❈♦♥❢❡r❡♥❝❡ ♦♥ ■♥✲ ❝❡♥t❡r❡❞ ♠✉❧t✐✲s❡♥s♦r ❢✉s✐♥❣ ❛♣♣r♦❛❝❤ t♦ t❡❧❧✐❣❡♥t ❘♦❜♦ts ❛♥❞ ❙②st❡♠s✳ ❱✐❧❛♠♦✉r❛✿ s❡❧❢✲❧♦❝❛❧✐③❛t✐♦♥ ❛♥❞ ♦❜st❛❝❧❡ ♣❡r❝❡♣t✐♦♥ ■❊❊❊✱ ✷✵✶✷✱ ♣♣✳ ✹✽✸✺✕✹✽✹✵✳ ❢♦r r♦❜♦t✐❝ ❝❛rs✳ ❋r♦♥t✐❡rs ♦❢ ■♥❢♦r♠❛t✐♦♥ ❚❡❝❤♥♦❧♦❣② ✫ ❊❧❡❝tr♦♥✐❝ ❊♥❣✐♥❡❡r✐♥❣✳ ✷✵✶✼✱ ❬✸❪ ❆●●❆❘❲❆▲✱ ❏✳ ❑✳ ▼✉❧t✐s❡♥s♦r ❢✉s✐♦♥ ✈♦❧✳ ✶✽✱ ✐ss✳ ✶✱ ♣♣✳ ✶✷✷✕✶✸✽✳ ❢♦r ❝♦♠♣✉t❡r ✈✐s✐♦♥✳ ◆❡✇ ❨♦r❦✿ ❙♣r✐♥❣❡r✲ ❱❡r❧❛❣✱ ✶✾✾✸✳ ❬✶✷❪ ❈❍❆❱❊❩✲●❆❘❈■❆✱ ❘✳ ❖✳ ❛♥❞ ❖✳ ❆❨✲ ❬✹❪ ❑◆❖❖P✱ ❙✳✱ ❙✳ ❱❆❈❊❑ ❛♥❞ ❘✳ ❉■▲▲✲ ▼❆◆◆✳ ❙❡♥s♦r ❢✉s✐♦♥ ❢♦r ✸❉ ❤✉♠❛♥ ❜♦❞② tr❛❝❦✐♥❣ ✇✐t❤ ❛♥ ❛rt✐❝✉❧❛t❡❞ ✸❉ ❜♦❞② ♠♦❞❡❧✳ ■♥✿ ■♥t❡r♥❛t✐♦♥❛❧ ❈♦♥❢❡r❡♥❝❡ ♦♥ ❘♦❜♦t✐❝s ❛♥❞ ❆✉t♦♠❛t✐♦♥✳ ❖r❧❛♥❞♦✿ ■❊❊❊✱ ✷✵✵✻✳ ❈❆❘❉✳ ▼✉❧t✐♣❧❡ ❙❡♥s♦r ❋✉s✐♦♥ ❛♥❞ ❈❧❛s✲ s✐✜❝❛t✐♦♥ ❢♦r ▼♦✈✐♥❣ ❖❜❥❡❝t ❉❡t❡❝t✐♦♥ ❛♥❞ ❚r❛❝❦✐♥❣✳ ■❊❊❊ ❚r❛♥s❛❝t✐♦♥s ♦♥ ■♥t❡❧❧✐✲ ❣❡♥t ❚r❛♥s♣♦rt❛t✐♦♥ ❙②st❡♠s✳ ✷✵✶✻✱ ✈♦❧✳ ✶✼✱ ✐ss✳ ✷✱ ♣♣✳ ✺✷✺✕✺✸✹✳ ❬✶✸❪ ❆◆✱ ❑✳✱ ❏✳ P❆❘❑✱ ▼✳ ❉✳ ❍❖❆◆● ❛♥❞ ❏✳ ❈❍❖■✳ ❉✐s♣❡♥s✐♥❣ ♠❛t❡r✐❛❧s ♦❢ ♠♦❜✐❧❡ ❬✺❪ ◆❖❯❘❇❆❑❍❙❍✱ ■✳ ❘✳✱ ❑✳ ❙❨❈❆❘❆✱ r♦❜♦t ❝♦♦♣❡r❛t✐♥❣ ✇✐t❤ ♣❡r❝❡♣t✐♦♥ s❡♥s♦r ▼✳ ❑❖❊❙✱ ▼✳ ❨❖◆●✱ ▼✳ ▲❊❲■❙ ❛♥❞ ❙✳ ♥❡t✇♦r❦✳ ■♥✿ ✶✶t❤ ■♥t❡r♥❛t✐♦♥❛❧ ❈♦♥❢❡r✲ ❇❯❘■❖◆✳ ❍✉♠❛♥✲r♦❜♦t t❡❛♠✐♥❣ ❢♦r s❡❛r❝❤ ❡♥❝❡ ♦♥ ❯❜✐q✉✐t♦✉s ❘♦❜♦ts ❛♥❞ ❆♠❜✐❡♥t ❛♥❞ r❡s❝✉❡✳ ■❊❊❊ P❡r✈❛s✐✈❡ ❈♦♠♣✉t✐♥❣✳ ■♥t❡❧❧✐❣❡♥❝❡✳ ❑✉❛❧❛ ▲✉♠♣✉r✿ ■❊❊❊✱ ✷✵✶✹✱ ✷✵✵✺✱ ✈♦❧✳ ✹✱ ✐ss✳ ✶✱ ♣♣✳ ✼✷✕✼✾✳ ♣♣✳ ✹✾✻✕✹✾✾✳ ❬✻❪ ❚❆◆●✱ ❈✳✱ ❈✳ ❩❍❖❯✱ ❲✳ P❆◆✱ ▲✳ ❳■❊ ❛♥❞ ❍✳ ❍❯✳ ❋✉s✐♥❣ ♠✐①❡❞ ✈✐s✉❛❧ ❢❡❛t✉r❡s ❢♦r ❤✉✲ ❬✶✹❪ P❆❘❑✱ ❏✳✱ ❑✳ ❆◆ ❛♥❞ ❏✳ ❈❍❖■✳ ❘❡❛❧✐st✐❝ ♠❛♥ ❛❝t✐♦♥ r❡❝♦❣♥✐t✐♦♥✳ ■♥t❡r♥❛t✐♦♥❛❧ ❏♦✉r✲ ✸❉ s✐♠✉❧❛t✐♦♥ ♦❢ ♠✉❧t✐♣❧❡ ❤✉♠❛♥ r❡❝♦❣♥✐✲ ♥❛❧ ♦❢ ▼♦❞❡❧❧✐♥❣✱ ■❞❡♥t✐✜❝❛t✐♦♥ ❛♥❞ ❈♦♥✲ t✐♦♥ ♦✈❡r P❡r❝❡♣t✐♦♥ ❙❡♥s♦r ◆❡t✇♦r❦✳ ■♥✿ tr♦❧✳ ✷✵✶✸✱ ✈♦❧✳ ✶✾✱ ✐ss✳ ✶✱ ♣♣✳ ✶✸✕✷✷✳ ❚❤❡ ✷✸r❞ ■❊❊❊ ■♥t❡r♥❛t✐♦♥❛❧ ❙②♠♣♦s✐✉♠ ❬✼❪ ◆❖❆▼❆◆✱ ❘✳ ❆✳ ❑✳✱ ▼✳ ❆✳ ▼✳ ❆▲■ ❛♥❞ ◆✳ ❩❆■◆❆▲✳ ❊♥❤❛♥❝✐♥❣ ♣❡❞❡str✐❛♥ ❞❡t❡❝t✐♦♥ ✉s✐♥❣ ♦♣t✐❝❛❧ ✢♦✇ ❢♦r s✉r✈❡✐❧❧❛♥❝❡✳ ■♥t❡r♥❛✲ ♦♥ ❘♦❜♦t ❛♥❞ ❍✉♠❛♥ ■♥t❡r❛❝t✐✈❡ ❈♦♠♠✉✲ ♥✐❝❛t✐♦♥✳ ❊❞✐♥❜✉r❣❤✿ ■❊❊❊✱ ✷✵✶✹✱ ♣♣✳ ✺✵✼✕ ✺✶✷✳ t✐♦♥❛❧ ❏♦✉r♥❛❧ ♦❢ ❈♦♠♣✉t❛t✐♦♥❛❧ ❱✐s✐♦♥ ❛♥❞ ❬✶✺❪ ❩❍❆◆●✱ ❩✳ ▼✐❝r♦s♦❢t ❑✐♥❡❝t ❙❡♥s♦r ❛♥❞ ❘♦❜♦t✐❝s✳ ✷✵✶✼✱ ✈♦❧✳ ✼✱ ✐ss✳ ✶✕✷✱ ♣♣✳ ✸✺✕✹✽✳ ■ts ❊✛❡❝t✳ ■❊❊❊ ▼✉❧t✐▼❡❞✐❛✳ ✷✵✶✷✱ ✈♦❧✳ ✶✾✱ ❬✽❪ ❏■❆◆●✱ ❨✳✱ ❍✳✲●✳ ❲❆◆● ❛♥❞ ◆✳ ❳■✳ ❚❛r❣❡t ❖❜❥❡❝t ■❞❡♥t✐✜❝❛t✐♦♥ ❛♥❞ ▲♦❝❛t✐♦♥ ❇❛s❡❞ ♦♥ ▼✉❧t✐✲s❡♥s♦r ❋✉s✐♦♥✳ ■♥t❡r♥❛✲ ✐ss✳ ✷✱ ♣♣✳ ✹✕✶✵✳ ❬✶✻❪ ◗❯■●▲❊❨✱ ▼✳✱ ❑✳ ❈❖◆▲❊❨✱ ❇✳ ●❊❘❑❊❨✱ ❏✳ ❋❆❯❙❚✱ ❚✳ ❋❖❖❚❊✱ t✐♦♥❛❧ ❏♦✉r♥❛❧ ♦❢ ❆✉t♦♠❛t✐♦♥ ❛♥❞ ❙♠❛rt ❏✳ ▲❊■❇❙✱ ❘✳ ❲❍❊❊▲❊❘ ❛♥❞ ❆✳ ❨✳ ❚❡❝❤♥♦❧♦❣②✳ ✷✵✶✸✱ ✈♦❧✳ ✸✱ ♥♦✳ ✶✱ ♣♣✳ ✺✼✕✻✺✳ ◆●✳ ❘❖❙✿ ❛♥ ♦♣❡♥✲s♦✉r❝❡ ❘♦❜♦t ❖♣✲ ❡r❛t✐♥❣ ❙②st❡♠✳ ■♥✿ ❲✐❧❧♦✇❣❛r❛❣❡ ❬♦♥✲ ❬✾❪ ■❙▼❆■▲✱ ❆✳ ❲✳ ❛♥❞ ▼✳ ❙✳ ❙❯◆❆❘✳ ▼✉❧✲ ❧✐♥❡❪✳ ✷✵✵✾✳ ❆✈❛✐❧❛❜❧❡ ❛t✿ http://www t✐♠♦❞❛❧ ❢✉s✐♦♥✿ ♣r♦❣r❡ss❡s ❛♥❞ ✐ss✉❡s ❢♦r willowgarage.com/sites/default/ ❛✉❣♠❡♥t❡❞ r❡❛❧✐t② ❡♥✈✐r♦♥♠❡♥t✳ ■♥t❡r♥❛✲ files/icraoss09-ROS.pdf✳ t✐♦♥❛❧ ❏♦✉r♥❛❧ ♦❢ ❈♦♠♣✉t❛t✐♦♥❛❧ ❱✐s✐♦♥ ❛♥❞ ❘♦❜♦t✐❝s✳ ✷✵✶✼✱ ✈♦❧✳ ✼✱ ♥♦✳ ✸✱ ♣♣✳ ✷✹✵✕✷✺✹✳ ❬✶✼❪ P❛❝❦❛❣❡ ❙✉♠♠❛r②✳ ■♥✿ ❘❖❙✳♦r❣ ❬♦♥❧✐♥❡❪✳ ❬✶✵❪ ❙❖◆●✱ ❍✳✱ ❲✳ ❈❍❖■ ❛♥❞ ❍✳ ❑■▼✳ ✷✵✶✻✳ ❆✈❛✐❧❛❜❧❡ ❛t✿ http://wiki.ros ❘♦❜✉st ❱✐s✐♦♥✲❇❛s❡❞ ❘❡❧❛t✐✈❡✲▲♦❝❛❧✐③❛t✐♦♥ org/openni_kinect✳ ❝ ✷✵✶✼ ❏♦✉r♥❛❧ ♦❢ ❆❞✈❛♥❝❡❞ ❊♥❣✐♥❡❡r✐♥❣ ❛♥❞ ❈♦♠♣✉t❛t✐♦♥ ✭❏❆❊❈✮ ✶✷✶ ❱❖▲❯▼❊✿ ✶ ❬✶✽❪ ❆ ❙♦❢t✇❛r❡ ❆r❝❤✐t❡❝t✉r❡ ❢♦r ❘●❇✲❉ P❡♦✲ ♣❧❡ ❚r❛❝❦✐♥❣ ❇❛s❡❞ ♦♥ ❘❖❙ ❋r❛♠❡✇♦r❦ ❢♦r ❛ ▼♦❜✐❧❡ ❘♦❜♦t✳ ▲❊❊✱ ❙✳✱ ❑✳✲❏✳ ❨❖❖◆ ❛♥❞ ❏✳ ▲❊❊✳ ❋r♦♥t✐❡rs ♦❢ ✐♥t❡❧❧✐❣❡♥t ❛✉t♦♥♦♠♦✉s s②st❡♠s✳ ❙t✉❞✐❡s ✐♥ ❝♦♠♣✉t❛t✐♦♥❛❧ ✐♥t❡❧❧✐✲ ❣❡♥❝❡✱ ✈✳ ✹✻✻✳ ◆❡✇ ❨♦r❦✿ ❙♣r✐♥❣❡r✱ ✷✵✶✸✱ ♣♣✳ ✺✸✕✻✽✳ | ■❙❙❯❊✿ ✷ | ✷✵✶✼ | ◆♦✈❡♠❜❡r ✐♥❣✱ ❚♦♥ ❉✉❝ ❚❤❛♥❣ ❯♥✐✈❡rs✐t②✱ ❍♦ ❈❤✐ ▼✐♥❤ ❈✐t②✱ ❱✐❡t♥❛♠✳ ❍❡ ✐s ❝✉rr❡♥t❧② ❛ ♠❡♠❜❡r ♦❢ ❖♣t♦❡❧❡❝tr♦♥✐❝s ❘❡s❡❛r❝❤ ●r♦✉♣✱ ❚♦♥ ❉✉❝ ❚❤❛♥❣ ❯♥✐✈❡rs✐t②✳ ❍✐s ❆r❡❛s ♦❢ ❡①♣❡rt✐s❡ ✐♥❝❧✉❞❡ P♦✇❡r s②st❡♠✱ ❘❡❧❛② Pr♦t❡❝t✐♦♥✱ ❛♥❞ ❖♣t♦❡❧❡❝tr♦♥✐❝s✳ ❆♥❤ ❱✉ ▲❊ ✐s ❛t ❋❛❝✉❧t② ♦❢ ❊❧❡❝tr✐❝❛❧ ❬✶✾❪ ❳■❆✱ ▲✳✱ ❈✳✲❈✳ ❈❍❊◆ ❛♥❞ ❏✳ ❑✳ ❆●✲ ❛♥❞ ❊❧❡❝✲tr♦♥✐❝ ❊♥❣✐♥❡❡r✐♥❣✱ ❚♦♥ ❉✉❝ ❚❤❛♥❣ ●❆❘❲❆✳ ❍✉♠❛♥ ❞❡t❡❝t✐♦♥ ✉s✐♥❣ ❞❡♣t❤ ✐♥✲ ❯♥✐✈❡rs✐t②✱ ❍♦ ❈❤✐ ▼✐♥❤ ❈✐t②✱ ❱✐❡t♥❛♠✳ ❢♦r♠❛t✐♦♥ ❜② ❑✐♥❡❝t✳ ■♥✿ ❈♦♠♣✉t❡r ❙♦❝✐✲ ❍❡ r❡❝❡✐✈❡❞ ❤✐s ❇✳❙❝✳ ✐♥ ❊❧❡❝tr♦♥✐❝s ❛♥❞ ❡t② ❈♦♥❢❡r❡♥❝❡ ♦♥ ❈♦♠♣✉t❡r ❱✐s✐♦♥ ❛♥❞ ❚❡❧❡❝♦♠♠✉♥✐❝❛t✐♦♥s ❢r♦♠ ❍❛ ◆♦✐ ❯♥✐✈❡rs✐t② P❛tt❡r♥ ❘❡❝♦❣♥✐t✐♦♥ ❲♦r❦s❤♦♣s✳ ❈♦❧♦r❛❞♦ ♦❢ ❚❡❝❤♥♦❧♦❣②✱ ▼✳❙❝✳ ❛♥❞ P❤✳❉✳ ❞❡❣r❡❡s ✐♥ ❙♣r✐♥❣s✿ ■❊❊❊✱ ✷✵✶✶✱ ♣♣✳ ✶✺✕✷✷✳ ❊❧❡❝tr♦♥✐❝s ❛♥❞ ❊❧❡❝tr✐❝s ❢r♦♠ t❤❡ ❉♦♥❣❣✉❦ ❯♥✐✈❡rs✐t② ✐♥ ✷✵✵✼ ❛♥❞ ✷✵✶✷✱ r❡s♣❡❝t✐✈❡❧②✳ ❍❡ ✐s ❝✉rr❡♥t❧② ❛ ♠❡♠❜❡r ♦❢ ❖♣t♦❡❧❡❝tr♦♥✐❝s ❆❜♦✉t ❆✉t❤♦rs ❘❡s❡❛r❝❤ ●r♦✉♣✱ ❚♦♥ ❉✉❝ ❚❤❛♥❣ ❯♥✐✈❡rs✐t②✳ ❍✐s ❝✉rr❡♥t r❡s❡❛r❝❤ ✐♥t❡r❡sts ✐♥❝❧✉❞❡ ❘♦❜♦t✐❝s ✐s ❧❡❝t✉r❡r ♦❢ ✈✐s✐♦♥✱ ❤✉♠❛♥ ❞❡t❡❝t✐♦♥ ❢❡❛t✉r❡ ♠❛t❝❤✐♥❣✱ ✸❉ ❋❛❝✉❧t② ♦❢ ❊❧❡❝tr✐❝❛❧ ❛♥❞ ❊❧❡❝tr♦♥✐❝s ❊♥❣✐♥❡❡r✲ ✈✐❞❡♦ ♣r♦❝❡ss✐♥❣✱ ❖♣t♦❡❧❡❝tr♦♥✐❝s✳ ❍♦❛♥❣ ◗✉❛♥❣ ▼✐♥❤ ❚❘❆◆ "This is an Open Access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0)." ✶✷✷ ❝ ✷✵✶✼ ❏♦✉r♥❛❧ ♦❢ ❆❞✈❛♥❝❡❞ ❊♥❣✐♥❡❡r✐♥❣ ❛♥❞ ❈♦♠♣✉t❛t✐♦♥ ✭❏❆❊❈✮ ... ✈✐❡✇ ✭xz ✲♣❧❛♥❡✮ ♦❢ ❣❧♦❜❛❧ ✸❉ ❝♦♦r❞✐♥❛t✐♦♥✳ ROS clients ROS master Kinect id1 /detector Kinect id2 /detector Kinect id3 /detector Kinect id4 WHERE Fusion /detector WHERE Module /where ROS master... ❜❡ ❦❡♣t ❛♥❞ ♦t❤❡rs ✇✐❧❧ ❜❡ r❡♠♦✈❡❞ ❛❢t❡r ❢✉s✐♥❣✳ ❊q✳ ✭✺✮✿ if dist pti , ptj ∗ < T d ∧ kinect id pti = kinect id ptj ∗ | ■❙❙❯❊✿ ✷ | ✷✵✶✼ | ◆♦✈❡♠❜❡r ✐♥❝♦rr❡❝t❧② ❛❢t❡r ❢✉s✐♥❣✳ ❚❤❡ ❡rr♦rs ❤❛♣♣❡♥... ✐♥ ✜♥❛❧ ❢✉s✐♦♥ r❡s✉❧ts✳ ♦rt❤♦❣♦♥❛❧ ❝♦♥✜❣✉r❛t✐♦♥ ❑✐♥❡❝t id1 ❛♥❞ ❑✐♥❡❝t id3 ❛s t❤r❡❡ ♣❡♦♣❧❡✳ Kinect2 Kinect1 p01 ❋✐❣✳ ✼✿ ❋✐❣✳ ✻✿ | ■❙❙❯❊✿ ✷ | ✷✵✶✼ | ◆♦✈❡♠❜❡r p02 p03 ❲❍❊❘❊ ❢✉s✐♦♥ ❦❡❡♣s ♦♥❧② ✶ ❞❡t❡❝t❡❞
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Xem thêm: Fusing detected humans in multiple perception sensors network, Fusing detected humans in multiple perception sensors network

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