A new low-cost and nonintrusive feet tracker

Abstract—Capturing gait is useful for many applications, including video-surveillance and medical purposes. The most common sensors used to capture gait suffer from significant drawbacks. We have therefore designed a new low-cost and non-intrusive system to capture gait. Our system is able to track the feet on the horizontal plane in both the stance and the swing phases by combining measures of several range laser scanners. The number of sensors can be adjusted according to the target application specifications. The first issue addressed in this work is the calibration: we have to know the precise location of the sensors in a plane, and their orientations. The second issue addressed is how to calculate feet coordinates from the distance profiles given by the sensors. Our method has proven to be robust and precise to measure gait abnormalities in various medical conditions, especially neurological diseases (with a focus on multiple sclerosis). Index Terms—gait analysis, gait recognition, multiple sclerosis, range laser scanners I