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

Mehrez Kristou, Akihisa Ohya, Shinichi 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 publicationProceedings - IEEE International Workshop on Robot and Human Interactive Communication
Pages711-716
Number of pages6
DOIs
Publication statusPublished - 2009
Externally publishedYes
Event18th IEEE International Symposium on Robot and Human Interactive, RO-MAN 2009 - Toyama
Duration: 2009 Sep 272009 Oct 2

Other

Other18th IEEE International Symposium on Robot and Human Interactive, RO-MAN 2009
CityToyama
Period09/9/2709/10/2

Fingerprint

Fusion reactions
Sensor data fusion
Pattern matching
Sensors
Mobile robots
Cameras

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

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

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 proceedingConference contribution

Kristou, M, Ohya, A & Yuta, S 2009, Panoramic vision and LRF sensor fusion based human identification and tracking for autonomous luggage cart. in Proceedings - IEEE International Workshop on Robot and Human Interactive Communication., 5326241, pp. 711-716, 18th IEEE International Symposium on Robot and Human Interactive, RO-MAN 2009, Toyama, 09/9/27. https://doi.org/10.1109/ROMAN.2009.5326241
Kristou M, Ohya A, Yuta S. Panoramic vision and LRF sensor fusion based human identification and tracking for autonomous luggage cart. In Proceedings - IEEE International Workshop on Robot and Human Interactive Communication. 2009. p. 711-716. 5326241 https://doi.org/10.1109/ROMAN.2009.5326241
Kristou, Mehrez ; Ohya, Akihisa ; Yuta, Shinichi. / Panoramic vision and LRF sensor fusion based human identification and tracking for autonomous luggage cart. Proceedings - IEEE International Workshop on Robot and Human Interactive Communication. 2009. pp. 711-716
@inproceedings{70db13ad02da46ee9e0cb63ca1cc7b3d,
title = "Panoramic vision and LRF sensor fusion based human identification and tracking for autonomous luggage cart",
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.",
author = "Mehrez Kristou and Akihisa Ohya and Shinichi Yuta",
year = "2009",
doi = "10.1109/ROMAN.2009.5326241",
language = "English",
isbn = "9781424450817",
pages = "711--716",
booktitle = "Proceedings - IEEE International Workshop on Robot and Human Interactive Communication",

}

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 -