Laser reflection intensity and multi-layered laser range finders for people detection

Alexander Carballo, Akihisa Ohya, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

Successful detection of people is a basic requirement for a robot to achieve symbiosis in people's daily life. Specifically, a mobile robot designed to follow people needs to keep track of people's position through time, for it defines the robot's position and trajectory. In this work we introduce the usage of reflection intensity data of Laser Range Finders (LRF) arranged in multiple layers for people detection. We use supervised learning to train strong classifiers including intensity-based features. Concretely, we propose a calibration method for laser intensity and introduce new intensity-based features for people detection which are combined with range-based features in a strong classifier using supervised learning. We provide experimental results to evaluate the effectiveness of these features. This work is an step towards of our main research project of developing a social autonomous mobile robot acting as member of a people group.

Original languageEnglish
Title of host publicationProceedings - IEEE International Workshop on Robot and Human Interactive Communication
Pages379-384
Number of pages6
DOIs
Publication statusPublished - 2010
Externally publishedYes
Event19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010 - Viareggio
Duration: 2010 Sep 122010 Sep 15

Other

Other19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010
CityViareggio
Period10/9/1210/9/15

Fingerprint

Range finders
Supervised learning
Mobile robots
Classifiers
Robots
Lasers
Trajectories
Calibration

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Carballo, A., Ohya, A., & Yuta, S. (2010). Laser reflection intensity and multi-layered laser range finders for people detection. In Proceedings - IEEE International Workshop on Robot and Human Interactive Communication (pp. 379-384). [5598657] https://doi.org/10.1109/ROMAN.2010.5598657

Laser reflection intensity and multi-layered laser range finders for people detection. / Carballo, Alexander; Ohya, Akihisa; Yuta, Shinichi.

Proceedings - IEEE International Workshop on Robot and Human Interactive Communication. 2010. p. 379-384 5598657.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Carballo, A, Ohya, A & Yuta, S 2010, Laser reflection intensity and multi-layered laser range finders for people detection. in Proceedings - IEEE International Workshop on Robot and Human Interactive Communication., 5598657, pp. 379-384, 19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010, Viareggio, 10/9/12. https://doi.org/10.1109/ROMAN.2010.5598657
Carballo A, Ohya A, Yuta S. Laser reflection intensity and multi-layered laser range finders for people detection. In Proceedings - IEEE International Workshop on Robot and Human Interactive Communication. 2010. p. 379-384. 5598657 https://doi.org/10.1109/ROMAN.2010.5598657
Carballo, Alexander ; Ohya, Akihisa ; Yuta, Shinichi. / Laser reflection intensity and multi-layered laser range finders for people detection. Proceedings - IEEE International Workshop on Robot and Human Interactive Communication. 2010. pp. 379-384
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