International Conference on Innovations in Power and Advanced Computing Technologies [i-PACT2017]

Human Detector and Counter Using Raspberry

Pi Microcontroller
Shubham Mathur1, Balaji Subramanian2, Sanyam Jain3, Kajal Choudhary4
EEE1, 2, 3-SELECT, CSE-SCOPE4
VIT University, Vellore, Tamil Nadu.
Email: Shubham.mathur15@gmail.com1, balajis95@gmail.com2, jainsanyam2@gmail.com3, choudhary.kajal19@gmail.com4

Dr. Rama Prabha D

Associate Professor-SELECT,
VIT University, Vellore, Tamil Nadu
Email: dramaprabha@vit.ac.in

The HOG feature descriptor in contrast to other descriptors,

Abstract— A novel initiative towards the digital image processing
technique by the application of histogram of oriented gradients
(HOG) feature descriptor using the OpenCV library coded with the
High-level programming language Python, booted with the help of
Raspberry Pi microcontroller fitted with a RaspiCam to capture
moving images of objects passing under it has been presented in this
paper. The project utilizes image samples in top-view which are
used to set predefined models containing a great number of motion
variations for identification of humans entering a room through a
door or gate. Pair of Passive Infra-Red (PIR) sensors has been used
to instruct the system to capture images of incoming or outgoing
objects that cross it. This method of image detection combined with
a sensor feedback has been used along with an ability to send data
via bluetooth to local servers for security or record purposes.
Keywords — HOG, Human Detection, Image Processing, PIR,
Raspberry Pi (RPi), Support Vector Machine (SVM), Single Board
Computer (SBC)
I. INTRODUCTION
T he detection of humans by automated systems using image
processing has presented numerous promising avenues in the
field of technology [1-2]. Counting of humans using Image
Processing has found applications in security, crowd-monitoring
and automated attendance systems in multinational firms etc.
image processing has proven advantageous over many other
methods such as multi-sensing, thermal sensing, heart-beat
sensing etc. This is evident owing to its relative advantages over
detection of objects and humans using simple sensors due to their
inability to differentiate between humans and other objects
without an accurate and dedicated data acquisition system.
involves a concept of comparison of local intensity gradients or
edge directions [3-5]. This reduces the complexity of pointing
out the positions of the object on the grid as it only compares the
normalized forms of the gradients of the image with the
normalized forms of gradients of the samples uploaded in the
system. The descriptor is used in OpenCV which guides the
process of image comparison [6-7]. Image-Processing is done in
top-view as the wide-variety of human gesture patterns that can
be present compared to frontal-view is greatly reduced [8].
Some of the most popular sensors used in detection applications
such as the thermal sensors etc. suffer a penalty while
differentiating between humans and objects that have
temperatures close or similar to that of a human body. Latest 3-D
depth technology sensors such as the Kinect Sensor[9] , though
foolproof, are very expensive being in the range of MRP Rs.
9490 - Rs.11,490 ( 141.59$- 171.43$).
To counter these disadvantages, P.I.R (Passive Infra-Red)
Sensors have been used in the detection of humans connected as
an input to an RPi-2 microcontroller unit which processes the
images of the object entering the room, captured by a Raspi-
CAM connected to the RPi-2.
A Pair of PIR sensors is used to send instructions to the
Raspberry Pi to start taking pictures of the object that has just
tripped it. A PIR comes under the category of pyroelectric
devices [10]. This type of sensor detects infrared radiation. It
senses motion that occurs in zones lateral to the sensor. PIR
sensor can detect precisely up to 40 feet which is sufficient for
detecting motion through a door. As its name suggests the PIR
sensor detects infrared radiation which has a wavelength in range
700 nm to 300 ȝm. It generates a temporary potential when there
is an increase or decrease in infrared radiation. The major
advantage of the PIR sensor is that it is shielded from false
triggers caused by sudden changes in air speed which gives it an

978-1-5090-5682-8 /17/$31.00 ©2017 IEEE

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obvious edge over ultrasonic and other sensors [11]. For this
purpose a Fresnel lens is placed over the sensor element which
additionally provides uniform sensitivity and extends its field of
view. PIR sensors are suitable for standalone systems because of
their less power consumption [12]. Human detection and
counting is presented as the primary objective in this research
paper.
II. PREVIOUS WORK AND COMPARISON
S tudies and work conducted on human detection techniques
using electronic systems have been proven useful on many
occasions whenever the segregation of human beings from other
objects became essential, not only for security purposes and
entry authorizations into a meeting hall, workplace or building
but also for reasons like a research conducted to determine the
density of humans in a particular area or region. This section has
been particularly utilized to mention a few of these papers
relevant to the topic at hand [13 - 22]. Viola et al. in [13]
presented an optimal and fast method of face detection using a
classifier built with AdaBoost learning algorithm which involves
concentrating on a small number of critical visual features of a
human face for detection. In [14] Jesorsky et al. implemented an
edge detection technique on gray scale images of human faces
involving face localization technique which is adaptive in all
textures and backgrounds, thereby ensuring an improved
accuracy in detecting human faces. Another method of human
detection by using the spatial layout of a body part’s appearance
and training these images using AdaBoost is presented in
Mikolajczyk et al. [15]. Detection of a human body part by
means of training a thousand images to locate specific features
present in an image for localization and identification might not
necessarily provide the target accuracy due to varying shapes and
sizes of human body parts making it unsuitable for such an
endeavor. Face detection in particular has its own disadvantages
pertaining to varying face shapes and different feature
orientations and image occlusion. A more viable option is to use
still images in top-view and perform image localization using
feature descriptors such as HOG to serve the purpose. Object
details in top-view are very specific referring to the head and
shoulder alignment of individuals which present a more suitable
and proportionate method for detecting human beings. Moreover
with a large reduction in the number of features exhibited by the
human body in this orientation makes it a better solution for the
problems observed in [13- 15]. This project has been conducted
in top-view using a RaspiCam to take pictures of objects that
pass underneath and simultaneously process the images captured
by relaying them to the Raspberry Pi microprocessor.
Numerous feature descriptors have been created for image
processing applications. Detection of human faces using two
variants of Discriminative Local Binary Pattern (LBP) descriptor
has been described by Mu, Yadong et al. in [16]. In yet another
work on Trainable System for object detection, Papageorgiou et
al. [17] use intensity differences between adjacent cells in an
image representation efficiently computable as a Haar Wavelet
transform. Use of Haar Classifiers for object detection can be
found in many works such as Reinius, Staffan [18] in which its
application has been extended to iOS applications. Major
disadvantage of Haar Wavelet transform is that it is not a
continuous waveform and also not differentiable and hence
cannot be technically used for optimal object detection
techniques. The LBP descriptor takes into consideration the
pixels in 8 directions surrounding a single cell and calculates
their gradients in each of these respective directions, assigning
each gradient value as positive or negative i.e. 1 and 0. This
method of converting gradient values into 1s and 0s suffers a
major disadvantage as it does not consider the increase or
decrease in gradient values surrounding a particular cell leading
to arbitrary conclusions on the nature of the image. The HOG
classifier used in this project considers the magnitudes of the
gradients instead of using binary digits gives a clear edge and
definition to the image captured and hence overcoming the
disadvantage of the LBP classifier. The Haar Cascade on the
other hand is primarily a texture based classifier and hence not
useful for the detection of orientations of the gradients. A
comparison between the results rendered by the three classifiers
on highways has been studied in Cruz et al. in [19]. An efficient
method of human detection in image and video processing using
HOG with SVM is presented in Pang, Yanwei et al. [20].
Works related to human detection and counting have been
published using various systems suiting the need and
environment. A synonymous work relating to the counting of
crowded moving objects using a parallelized version of KLT
tracker has been published by Rabaud et al. [21]. The cited work
also presents the relative problems involved in detection and
tracking of moving objects. These disadvantages are tackled with
the use of top-view image capturing and subsequent processing
by RPi. A similar approach using RPi for image processing
application can be found in Fernandes et al. [22] which also
throws light on the cost efficiency and low power consumption
of the device.
III. IMAGE PROCESSING USING OPENCV IN PYTHON
O penCV (Open Source Computer Vision) is a library that
can be imported in almost all computer languages like python, C,
Java etc. It contains optimized image processing tools. One of
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the object in the test image. The SVM feeds on sample images
classified as positive samples and negative

(A) (B)

Fig. 2. Images taken by RaspiCam and detection of Humans by HOG algorithm

run by a python script in Raspberry Pi

samples. Positive samples Fig. 1 (C, D) are those that have the
(C) (D)
desired object in them whereas negative samples Fig. 1 (A, B) do
Fig. 1. Samples for HOG feature descriptor (A, B) Negative; (C, D) Positive not contain the object. SVM works on the comparison of two
types of samples. Collected samples should be diverse in
complexity and number of objects present.
the most supreme aspects of OpenCV is that it is platform
independent which enables its usage on a large variety of
hardware like RPi. Using OpenCV in python boosts its abilities
by incorporating numpy (Numerical Python). In image
processing, images are dealt as large 3D arrays and numpy
serves as a robust tool for numerical array computations [23-24].
For human detection, we used HOG algorithm. HOG is used for
feature description in computer vision and image processing for
the purpose of object detection. The principle of the algorithm is
that, it counts presences of gradient orientation in localized zones
of an image. It is computed on an image assumed as a dense grid
and divided into uniformly spaced cells and uses overlapping
local contrast normalization for improved accuracy. In HOG a
shape and its appearance in an image is defined by the
distribution of intensity gradients or edge directions. The image
is divided into small connected regions or zones called cells and
a histogram of intensity gradients is computed for each of the
cells and stored in the form of a matrix. The descriptor is then
defined by summing of these values of the matrix. For better
accuracy, the local histograms can be contrast-normalized by Fig. 3. An Illustration of the Human Counter detecting a Person passing under it.
calculating a measure of the intensity across a connected cluster
Other algorithms also exist for object detection like Haar
of cells, called a block, and then using this value to normalize all
Cascades, background subtraction etc. Haar Cascades is well
cells within the block. Normalization of the cells removes noise
suited to cases where features are well defined and specific like
from the images to some extent. In some cases it may decrease face detection etc. In real time situations, features of a human
the sharpness of the images. It usually results in better invariance figure are not well specified, they tend to vary a lot according to
to changes in illumination and shadowing. After the calculation the pose or exposure of human body to the camera. In such cases
of Histograms of the divided cells, a SVM is trained by the HOG helps best. HOG was applied on top-view (alignment of
histograms prepared. Task of SVM is to test various images for head and shoulders) on human body as shown in Fig. 2.
the presence of the desired object and declare the occurrence of

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Fig. 4. Block Diagram Describing the Process Flow of the project.

IV. REAL TIME IMPLEMENTATION

A s per the process flow, when a person or thing enters the schematic, other pins can be programmed for controlling more
number of relay switches.
field of sensors as in Fig. 3, it triggers the DIP unit programmed
in RPi to take images from a camera mounted on the top of the
door and process them for detecting human presence [25-27]. If
human is detected by the DIP unit, it checks the status of the
other sensor. Triggering of other sensor signifies the
entrance/exit of a person and updates the counter accordingly. If
human is not detected by DSP algorithm or other sensor is not
triggered, then process is directed to the beginning as given in
Fig. 4. All the data of image processing that is ongoing in the
RPi is retrieved on another system using serial communication
and a bluetooth module (HC-05) interfaced with RPi serial port.
This information was very useful for performance assessment of
the python script and DIP algorithm.
Schematic diagram of hardware connections is shown in Fig. 5.
USART pins are connected to the bluetooth module [28-29].
universal synchronous and asynchronous receiver and transmitter
(USART) is used to communicate between devices over serial
communication protocol. Relays can be used in the circuit for
controlling the power supply of the room as per the counter [30].
Status LED denotes the state of the DIP algorithm. If the LED is
glowing, it signifies that DIP algorithm is currently non- Fig. 5. Schematic Diagram of the Pin Connections of RPi
operational. Apart from the pins currently used in the circuit

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Fig. 6. Graph of an analysis performed on the no. of people detected while entering the Room.
For expanding the number of relays, some other boards like
Arduino Mega 2560 etc. can be used with RPi by I2C
communication protocol in a master–slave association. Mega
2560 has an edge over other available microcontroller boards as
it consists of 52 digital pins that can be directly interfaced with
magnetic relays. It also has 3 serial communication ports that can
be used to further extend the length of master-slave chain.
A small setup with a box and two sensors are placed on a
gateway. The box contains RPi with RPi camera, bluetooth
module (HC-05) and a power bank (to power RPi). This box is
mounted approximately at a height of 8-10 feet. Sensors placed
on either sides of the gate must have an optimum distance of 1-
1.5 meter between each other.
V. INNOVATION INVOLVED
The major innovation involved is incorporation of image
processing in human detection algorithm which is already
discussed in introduction. Second major innovation is use of top-
view in HOG.
Top view gives more accuracy in human detection because
possible alignment combinations of head with shoulders are
lesser when compared to alignment combinations of full body
seen from front or back. However, face detection is far better
than human body detection in terms of accuracy, but it poses a
situational drawback of placement a camera. If face detection is
used, camera module has to be placed in front of the door but
places for mounting camera are not always available in front of
door. For mounting camera in this case, we require a separate
stand/hanger from roof placed in front side of door but it will
disrupt the gateway. If camera is placed away from the gate, then
a high power scope has to be used that will incur further cost.
Face detection imparts a delay and uncertainty to the system as
person entering the room has to face the camera in-line for
proper detection. Face detection has a limitation that gate should
be transparent for faces to be visible. Top-view eliminates all
such limitations with ease.
Third major advantage of this project is that this is a cost
efficient project, as it costs only 6500/- INR along with an NRE
cost of 1200/-. Low cost design enables this project to be
implemented at a larger scale.
VI. EXPERIMENTAL RESULTS
T he project was implemented on a lab gate and 100 people
were passed through it. Total number of people detected were
recorded and plotted against total number of people passed. It
resulted in a curve slightly lagging than straight line. Straight
line signifies an ideal system that is fully efficient. This recorded
data was analyzed by linear regression using least square method
to determine the overall efficiency of the system that came to be
83% being just a scaled down model. In least square analysis,
number of people passed (X) and corresponding values of
number of people detected (Y) are tabulated in Fig. 6. An
approximate linear line is derived from (1) and (3) by the data as:
ܻ෠ ൌ ܾ଴ ൅  ܾଵ ܺ (1)
σೣσ೤
σ ௫௬ି
ܾଵ ൌ  ೙
ሺσ ೣሻమ
(2)
σ ௫మି
೙
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Fig. 7. The Efficiency Curve Plotted by Real-Time Experimentation
σ ௬ିሺ௕భ σ ௫ሻ
ܾ଴ ൌ 
௡
Slope (ܾଵ ) as in (2) of the approximated line signifies the overall
efficiency of the system. Fig. 7 shows the efficiency curve which
was plotted from the data obtained experimentally.
VII. CONCLUSION AND FUTURE ASPECTS
This project is a new approach for human detection and
counting. Involvement of image processing with conventional
methods helped in avoiding false detections (non-human
detection) and led to an efficiency of 83% as this was just a
scaled down model. This efficiency can be further increased to a
level of nearly 96%. Using RPi for soft computation averted the
use of desktop CPUs and reduced the power consumption of the
system and cost. A very simple design results in easy installation.
Internal Processing of the machine is observable through serial
communication by bluetooth module. Future research directions
involve replacement of PIR sensors by high range LOS (Line of
Sight) sensors, such as IR sensors with lasers, or Proximity
sensors to eliminate solid angle triggering and decreasing
triggering area. For boosting up the performance and speed of
the system, more powerful hardware can be used like RPi-3
(released in February 2016) that has 4×ARM Cortex-A53,
1.2GHz processor. Further improvement can be done by using a
higher resolution camera to increase the calibre, lucidness and
quality of the images captured. To increase the efficiency of
HOG algorithm, more number of samples can be used to train
SVM. Alerting systems like message alerts or alarms if someone
enters a facility in restricted time period etc. can also be
incorporated with the supply automation.
(3)
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