Indoor Localization and Multi-person Tracking Using Privacy Preserving Distributed Camera Network with Edge Computing

Localization of individuals in a built environment is a growing research topic. Estimating the positions, face orientation (or gaze direction) and trajectories of people through space has many uses, such as in crowd management, security, and healthcare. In this work, we present an open-source, low-cost, scalable and privacy-preserving edge computing framework for multi-person localization, i.e. estimating the positions, orientations, and trajectories of multiple people in an indoor space. Our computing framework consists of 38 Tensor Processing Unit (TPU)-enabled edge computing camera systems placed in the ceiling of the indoor therapeutic space. The edge compute systems are connected to an on-premise fog server through a secure and private network. A multi-person detection algorithm and a pose estimation model run on the edge TPU in real-time to collect features which are used, instead of raw images, for downstream computations. This ensures the privacy of individuals in the space, reduces data transmission/storage and improves scalability. We implemented a Kalman filter-based multi-person tracking method and a state-of-the-art body orientation estimation method to determine the positions and facing orientations of multiple people simultaneously in the indoor space. For our study site with size of 18,000 square feet, our system demonstrated an average localization error of 1.41 meters, a multiple-object tracking accuracy score of 62%, and a mean absolute body orientation error of 29{\deg}, which is sufficient for understanding group activity behaviors in indoor environments. Additionally, our study provides practical guidance for deploying the proposed system by analyzing various elements of the camera installation with respect to tracking accuracy.