Indoor multiple human targets localization and tracking using thermopile sensor

Thermal sensors have been widely applied for human targets in battlefield surveillance and smart housing. A low-resolution thermopile sensor—GridEye is used to localize and track indoor multiple human targets. Interpolation is introduced to increase the resolution of sensor data and Gaussian filter is designed to smooth the data. An adaptive threshold method is designed to remove non-human thermal targets and background image. The human targets are located by considering the space deployment and the viewing angle effect of GridEye. Depending on target positions and the heat signatures of human targets, the targets are associated with their respective trajectories. The experimental results have shown that multiple humans can be tracked well in the indoor environment.