Measurement of feet-ground interaction for real-time person localization, step characterization, and gaming

Abstract

We introduce a setup for detailed and unobtrusive feet mapping in a room. Two cameras arranged in a stereo pair detect when an object touches ground by analyzing the occlusions on a fluorescent tape that is attached to the baseboard of a room. The disparity between both cameras allows localization of a person's feet and the calculation of step size and walking speed. People are separated from furniture such as chairs and tables by studying the occlusion duration. We present and discuss data-association and filtering algorithms and the algorithms that are needed for presence detection, step characterization and gaming.