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 language | English |
|---|---|
| Title of host publication | Proceedings - IEEE International Workshop on Robot and Human Interactive Communication |
| Pages | 711-716 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2009 |
| Externally published | Yes |
| Event | 18th IEEE International Symposium on Robot and Human Interactive, RO-MAN 2009 - Toyama Duration: 2009 Sep 27 → 2009 Oct 2 |
Other
| Other | 18th IEEE International Symposium on Robot and Human Interactive, RO-MAN 2009 |
|---|---|
| City | Toyama |
| Period | 09/9/27 → 09/10/2 |
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ASJC Scopus subject areas
- Software
- Artificial Intelligence
- Human-Computer Interaction
Cite this
Panoramic vision and LRF sensor fusion based human identification and tracking for autonomous luggage cart. / Kristou, Mehrez; Ohya, Akihisa; Yuta, Shinichi.
Proceedings - IEEE International Workshop on Robot and Human Interactive Communication. 2009. p. 711-716 5326241.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Panoramic vision and LRF sensor fusion based human identification and tracking for autonomous luggage cart
AU - Kristou, Mehrez
AU - Ohya, Akihisa
AU - Yuta, Shinichi
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=72849117074&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=72849117074&partnerID=8YFLogxK
U2 - 10.1109/ROMAN.2009.5326241
DO - 10.1109/ROMAN.2009.5326241
M3 - Conference contribution
AN - SCOPUS:72849117074
SN - 9781424450817
SP - 711
EP - 716
BT - Proceedings - IEEE International Workshop on Robot and Human Interactive Communication
ER -