TY - GEN
T1 - People detection using double layered multiple laser range finders by a companion robot
AU - Carballo, Alexander
AU - Ohya, Akihisa
AU - Yuta, Shin'Ichi
PY - 2009
Y1 - 2009
N2 - Successful detection and tracking of people is a basic requirement to achieve a robot symbiosis in people daily life. Specifically, a mobile robot designed to follow people needs to keep track of people position through time, for it defines the robot's position and trajectory. This work proposes a new method people detection and position estimation from a mobile robot by fusion of multiple Laser Range Finders arranged in two layers. Sensors facing opposite directions in a single row (layer) are combined to produce a 360° representation of robot's surroundings, then data from every layer is further fused to create a 3D model of people and from there their position. The main problem of our research is an autonomous mobile robot acting as member of a people group moving in public areas, simple but accurate people detection and tracking is an important requirement. We present experimental results of fusion steps and people detection in an indoor environment.
AB - Successful detection and tracking of people is a basic requirement to achieve a robot symbiosis in people daily life. Specifically, a mobile robot designed to follow people needs to keep track of people position through time, for it defines the robot's position and trajectory. This work proposes a new method people detection and position estimation from a mobile robot by fusion of multiple Laser Range Finders arranged in two layers. Sensors facing opposite directions in a single row (layer) are combined to produce a 360° representation of robot's surroundings, then data from every layer is further fused to create a 3D model of people and from there their position. The main problem of our research is an autonomous mobile robot acting as member of a people group moving in public areas, simple but accurate people detection and tracking is an important requirement. We present experimental results of fusion steps and people detection in an indoor environment.
KW - Feature Extraction
KW - Multilayer LRF
KW - People Detection
UR - http://www.scopus.com/inward/record.url?scp=78651566104&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78651566104&partnerID=8YFLogxK
U2 - 10.1007/978-3-540-89859-7_22
DO - 10.1007/978-3-540-89859-7_22
M3 - Conference contribution
AN - SCOPUS:78651566104
SN - 9783540898580
T3 - Lecture Notes in Electrical Engineering
SP - 315
EP - 331
BT - Multisensor Fusion and Integration for Intelligent Systems
T2 - 7th IEEE International Conference on Multi-Sensor Integration and Fusion, IEEE MFI 2008
Y2 - 20 August 2008 through 22 August 2008
ER -