High-resolution Thermopile Array Sensor-based System for Human Detection and Tracking in Indoor Environment

This paper proposes an indoor multiple human detection and tracking system based on a high-resolution thermopile array sensor. The sensor is deployed at the height of 3m with a vertical downward view. The infrared data of the detection area collected by the sensor is called thermal distribution. The sensor obtains 24×32 pixels thermal distribution. The thermal distribution data is first preprocessed by interpolation and filtering. Then, the background is removed by an adaptive threshold. The high temperature regions and their center points of human targets are obtained by a weighted meanshift method. The thermal feature of a high temperature region is the sum of temperature in the region. Finally, through the space distance and the thermal feature, the center points of high temperature regions are associated with the corresponding human trajectories. Due to the high resolution of thermopile array sensor, the tracking system has a good accuracy, and it can handle the detection and tracking of multiple humans close to each other as well.