Multisubjects Tracking by Time-of-Flight Camera

Time-of-Flight cameras are the state of art sensors for a fast detection of depth data in a scene. This kind of sensors can be very useful for tracking, in particular in indoor ambient, since, using light in near-infrared spectrum, they are less affected by abrupt change in illumination. In this paper we propose a new method for the tracking of multiple subjects based on Kalman filter. The first step of our solution is a ToF based foreground segmentation, that retrieves all significant clusters in the scene, followed by a robust tracking system able to correctly handle occlusions and possible merging between clusters.