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Multi-linear CCD indoor human localization approach based on unscented Kalman filter

A low-cost, high-precision trilinear CCD sensor is used to locate the human indoors. The sensor is composed of three linear CCD cameras. According to the imaging rule of ID camera and the principle of coordinate transformation, the position and attitude of the human carrying this sensor can be measured. An indoor human localization approach based on unscented Kalman filter (UKF) is proposed. When point lights arranged on the ceiling are temporarily blocked, the position and direction angle of the target can be estimated by the UKF algorithm according to the current sampling information. Simulation and experimental results show that the indoor human localization approach is feasible, which can track the target when point lights are temporarily blocked.