Real time 3D depth flow generation and its application to track walking human beings

Abstract

This paper proposes a 3D depth flow generation method which measures 3D motion vector of every pixels between two time sequential images. First, the definition of 3D depth flow and a simple method in order to generate the 3D depth flow are described. Then the implementation of a real time 3D depth flow generation system using only a PC is presented, and experimental results are given. Finally, as an application, a walking human tracking task using mobile robot is included.