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IWR6843AOP: 3D People count demo target height not effective.

Davis Chow
Prodigy 30 points
Part Number: IWR6843AOP

When using the ceiling mount setup with the overhead people count demo from TI, the height (y axis) of tracking people from sensor is not effective, which change from 0 m to 2 m rapidly when the tracking human is standing, ground position (x and z axis ) is ok. It is difficult to implement applications (such as fall detection) with these unreliable positional data from sensor. How to solve this problem? 

  • 0
    TI__Genius 14415 points

    Hello,

    The reported height is the height of the tracked target. This will be the height of the centroid point, not the maximum point. This may change more rapidly in the overhead mounted case as there may be more points generated from the legs and feet walking than the head and shoulders. 

    To increase the height accuracy, you can use the tallest point associated with the target, as denoted by the target index TLV. Or you can try a wall mounted people tracking use case, which may generate more points from the entire body and give a more reliable height indication.

    Regards,

    Jackson

  • 0 in reply to Jackson Thomas
    Prodigy 30 points

    Hello,

    I cannot find the tallest point in the target index TLV according to the implementation guide of the 3D people count demo. Where can I find it?

    Thanks.

  • 0 in reply to Davis Chow
    TI__Genius 14415 points

    Hello,

    The tracked person will have a target ID. All the points associated with that person will have a target index matching the person's TID. This starts at 0 and increments for each new person tracked in the scene.

    The target index list order corresponds to the pointcloud list, so for each target index matching the TID desired, you will need to go to the pointcloud list and look at the data of the point in the same index position in the list and read the height. Two things to note, the pointcloud is output in spherical coordinates, you will need to translate to cartesian coordinates to get a linear height value. The target index TLV and and target list TLV will both be output 1 frame after the corresponding pointcloud TLV due to processing and UART BW.

    Regards,

    Jackson

  • 0 in reply to Jackson Thomas
    Prodigy 100 points

    Hi Jackson,

    I've got a similar query. As per your suggestion "The target index list order corresponds to the pointcloud list", but I couldn't find any reference to the target index in the point cloud structure (Overhead 3D people count project). 

    typedef struct DPIF_PointCloudSpherical_t
    {
    float range;

    float azimuthAngle;

    float elevAngle;

    float velocity;
    }DPIF_PointCloudSpherical;

    Which part of the pointcloud list has the target index variable linked to the tracked targets?

    Regards,

    Kai

  • 0 in reply to Kai
    TI__Genius 14415 points

    Hello Kai,

    The index is reported in TLV 8, separately from the pointcloud TLV. Please see the user's guide for info on the UART output.

    https://dev.ti.com/tirex/explore/node?a=VLyFKFf__4.6.0&node=AF4jhFuBH13mLPnsCXgawg__VLyFKFf__LATEST 

    Regards,

    Jackson