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

Alexander Carballo, Akihisa Ohya, Shin'ichi 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 publication19th International Symposium in Robot and Human Interactive Communication, RO-MAN 2010
Pages379-384
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 13
Event19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010 - Viareggio, Italy
Duration: 2010 Sep 122010 Sep 15

Publication series

NameProceedings - IEEE International Workshop on Robot and Human Interactive Communication

Conference

Conference19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010
CountryItaly
CityViareggio
Period10/9/1210/9/15

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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 19th International Symposium in Robot and Human Interactive Communication, RO-MAN 2010 (pp. 379-384). [5598657] (Proceedings - IEEE International Workshop on Robot and Human Interactive Communication). https://doi.org/10.1109/ROMAN.2010.5598657