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 proceedingConference contribution

20 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
Title of host publicationIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
Pages677-682
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI - Seoul
Duration: 2008 Aug 202008 Aug 22

Other

Other2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI
CitySeoul
Period08/8/2008/8/22

Fingerprint

Range finders
Mobile robots
Fusion reactions
Lasers
Robots
Sensors

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

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 proceedingConference contribution

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