Fusion of double layered multiple laser range finders for people detection from a mobile robot

Alexander Carballo; Akihisa Ohya; Shin'ichi Yuta

doi:10.1109/MFI.2008.4648023

Fusion of double layered multiple laser range finders for people detection from a mobile robot

Alexander Carballo, Akihisa Ohya, Shin'ichi Yuta

Department of Electrical Engineering

Research output: Contribution to conference › Paper › peer-review

22 Citations (Scopus)

Abstract

This work proposes a new method people detection and position estimation from a mobile robot by fusion of multiple Laser Range Finders arranged in two layers. Sensors facing opposite directions in a single row (layer) are fused to produce 360° scan data of robot's surroundings, then data from every layer is further fused to create a 3D model of people and from there their position. The main problem of our research is an autonomous mobile robot acting as member of a people group moving in public areas, simple and accurate people detection and tracking is an important requirement. We present experimental results of fusion steps and people detection in an indoor environment.

Original language	English
Pages	677-682
Number of pages	6
DOIs	https://doi.org/10.1109/MFI.2008.4648023
Publication status	Published - 2008 Dec 1
Event	2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI - Seoul, Korea, Republic of Duration: 2008 Aug 20 → 2008 Aug 22

Conference

Conference	2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI
Country/Territory	Korea, Republic of
City	Seoul
Period	08/8/20 → 08/8/22

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Science Applications

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10.1109/MFI.2008.4648023

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Fusion of double layered multiple laser range finders for people detection from a mobile robot. / Carballo, Alexander; Ohya, Akihisa; Yuta, Shin'ichi.

2008. 677-682 Paper presented at 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI, Seoul, Korea, Republic of.

Research output: Contribution to conference › Paper › peer-review

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AB - This work proposes a new method people detection and position estimation from a mobile robot by fusion of multiple Laser Range Finders arranged in two layers. Sensors facing opposite directions in a single row (layer) are fused to produce 360° scan data of robot's surroundings, then data from every layer is further fused to create a 3D model of people and from there their position. The main problem of our research is an autonomous mobile robot acting as member of a people group moving in public areas, simple and accurate people detection and tracking is an important requirement. We present experimental results of fusion steps and people detection in an indoor environment.

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Fusion of double layered multiple laser range finders for people detection from a mobile robot

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