Multi-camera and radio fusion for person localization in a cluttered environment

We investigate the problem of person localization in a cluttered environment. We evaluate the performance of an Ultra-Wideband radio localization system and a multi-camera system based on the Probabilistic Occupancy Map algorithm. After demonstrating the strengths and weaknesses of both systems, we improve the localization results by fusing both the radio and the visual information within the Probabilistic Occupancy Map framework. This is done by treating the radio modality as an additional independent sensory input that contributes to a given cell’s occupancy likelihood.