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In this paper, the position estimate system to watch the person requiring nursing care in the nursing facility or the home by using the Obrid-Sensor which developed in a previous research will be suggested. The proposed method estimates the value by the background subtraction method and the value has the set threshold. Beforehand the subject was made the model that the proposed method supposed to perform equal speed movement and estimate the position by Karman filter. In this experiment, the three patterns of the subject are reproduced, anteroposterior movement, right and left movement and occlusion by the movement of the subject. As the result of the experiment, in the case of each situations, the proposed method could estimate the position, but it was with a wrong estimate by an anteroposterior observation value when the subject changed direction. This research enabled correspondence to the occlusion by the detection of the plural number subject and the occlusion by the subject and the obstacle only with one Obrid-Sensor by using Karman filter.

Simultaneous Estimation of Horizontal Position and Depth Distance by Kalman Filter and Obrid-Sensor