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

Alexander Carballo; Akihisa Ohya; Shinichi 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, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

21 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
Title of host publication	IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
Pages	677-682
Number of pages	6
DOIs	https://doi.org/10.1109/MFI.2008.4648023
Publication status	Published - 2008
Externally published	Yes
Event	2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI - Seoul Duration: 2008 Aug 20 → 2008 Aug 22

Other

Other	2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI
City	Seoul
Period	08/8/20 → 08/8/22

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ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Science Applications

Cite this

Carballo, A., Ohya, A., & Yuta, S. (2008). Fusion of double layered multiple laser range finders for people detection from a mobile robot. In IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (pp. 677-682). [4648023] https://doi.org/10.1109/MFI.2008.4648023

Carballo, A, Ohya, A & Yuta, S 2008, Fusion of double layered multiple laser range finders for people detection from a mobile robot. in IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems., 4648023, pp. 677-682, 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI, Seoul, 08/8/20. https://doi.org/10.1109/MFI.2008.4648023

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Access to Document

10.1109/MFI.2008.4648023