Panoramic vision and LRF sensor fusion based human identification and tracking for autonomous luggage cart

Mehrez Kristou, Akihisa Ohya, Shin'ichi Yuta

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

4 Citations (Scopus)

Abstract

In this paper, we propose a solution for human identification and localization with a mobile robot problem that implements multi-sensor data fusion techniques. This solution is designed for an autonomous luggage cart. The system utilizes a new approach based on identifying the target human visually from an omni directional camera then localizing and tracking him using LRF. This approach is composed of "Registration Stage" and "Identification and Localization Stage". The registration stage extracts all necessary information needed including patches from the clothes. The identification is made using a modified pattern-matching algorithm to fit to a real time application. The tracking is implemented using a positions history structure to keep record of all positions of surrounding objects and the identified human. We implemented the proposed approach in fixed configuration to test its effectiveness.

Original languageEnglish
Title of host publicationRO-MAN 2009 - 18th IEEE International Symposium on Robot and Human Interactive
Pages711-716
Number of pages6
DOIs
Publication statusPublished - 2009
Event18th IEEE International Symposium on Robot and Human Interactive, RO-MAN 2009 - Toyama, Japan
Duration: 2009 Sep 272009 Oct 2

Publication series

NameProceedings - IEEE International Workshop on Robot and Human Interactive Communication

Conference

Conference18th IEEE International Symposium on Robot and Human Interactive, RO-MAN 2009
CountryJapan
CityToyama
Period09/9/2709/10/2

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Human-Computer Interaction

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    Kristou, M., Ohya, A., & Yuta, S. (2009). Panoramic vision and LRF sensor fusion based human identification and tracking for autonomous luggage cart. In RO-MAN 2009 - 18th IEEE International Symposium on Robot and Human Interactive (pp. 711-716). [5326241] (Proceedings - IEEE International Workshop on Robot and Human Interactive Communication). https://doi.org/10.1109/ROMAN.2009.5326241