Slicing the 3D space into planes for the fast interpretation of human motion

• Single-row range laser scanners measure the distance between themselves and the closest element, in a set of predefined directions that are usually located in a plane. Therefore, they can be used to analyse the geometry of a thin slice of the observed scene. • They derive the distance measures from the time-of-flight of an infrared signal (e.g. a pulse). A large number of precise distance measures can be taken at high frequency (e.g. 274 directions scanned at 60Hz, or 16440 measures per second, in the case of the sensor BEA LZR-U901). • The suitability of range laser scanners depends on the speed of the observed elements, and is in general high for human motion [1].

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