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

Alexander Carballo, Akihisa Ohya, Shin'ichi Yuta

Research output: Contribution to conferencePaper

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 languageEnglish
Pages677-682
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI - Seoul, Korea, Republic of
Duration: 2008 Aug 202008 Aug 22

Conference

Conference2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI
CountryKorea, Republic of
CitySeoul
Period08/8/2008/8/22

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

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  • Cite this

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