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 | |
| 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
Fusion of double layered multiple laser range finders for people detection from a mobile robot. / Carballo, Alexander; Ohya, Akihisa; Yuta, Shinichi.
IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. 2008. p. 677-682 4648023.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Fusion of double layered multiple laser range finders for people detection from a mobile robot
AU - Carballo, Alexander
AU - Ohya, Akihisa
AU - Yuta, Shinichi
PY - 2008
Y1 - 2008
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=67650603655&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=67650603655&partnerID=8YFLogxK
U2 - 10.1109/MFI.2008.4648023
DO - 10.1109/MFI.2008.4648023
M3 - Conference contribution
AN - SCOPUS:67650603655
SP - 677
EP - 682
BT - IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
ER -