People detection using double layered multiple laser range finders by a companion robot

Alexander Carballo, Akihisa Ohya, Shinichi Yuta

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

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationLecture Notes in Electrical Engineering
Pages315-331
Number of pages17
Volume35 LNEE
DOIs
Publication statusPublished - 2009
Externally publishedYes
Event7th IEEE International Conference on Multi-Sensor Integration and Fusion, IEEE MFI 2008 - Seoul
Duration: 2008 Aug 202008 Aug 22

Publication series

NameLecture Notes in Electrical Engineering
Volume35 LNEE
ISSN (Print)18761100
ISSN (Electronic)18761119

Other

Other7th IEEE International Conference on Multi-Sensor Integration and Fusion, IEEE MFI 2008
CitySeoul
Period08/8/2008/8/22

Fingerprint

Range finders
Mobile robots
Robots
Lasers
Fusion reactions
Trajectories
Sensors

Keywords

  • Feature Extraction
  • Multilayer LRF
  • People Detection

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering

Cite this

Carballo, A., Ohya, A., & Yuta, S. (2009). People detection using double layered multiple laser range finders by a companion robot. In Lecture Notes in Electrical Engineering (Vol. 35 LNEE, pp. 315-331). (Lecture Notes in Electrical Engineering; Vol. 35 LNEE). https://doi.org/10.1007/978-3-540-89859-7_22

People detection using double layered multiple laser range finders by a companion robot. / Carballo, Alexander; Ohya, Akihisa; Yuta, Shinichi.

Lecture Notes in Electrical Engineering. Vol. 35 LNEE 2009. p. 315-331 (Lecture Notes in Electrical Engineering; Vol. 35 LNEE).

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

Carballo, A, Ohya, A & Yuta, S 2009, People detection using double layered multiple laser range finders by a companion robot. in Lecture Notes in Electrical Engineering. vol. 35 LNEE, Lecture Notes in Electrical Engineering, vol. 35 LNEE, pp. 315-331, 7th IEEE International Conference on Multi-Sensor Integration and Fusion, IEEE MFI 2008, Seoul, 08/8/20. https://doi.org/10.1007/978-3-540-89859-7_22
Carballo A, Ohya A, Yuta S. People detection using double layered multiple laser range finders by a companion robot. In Lecture Notes in Electrical Engineering. Vol. 35 LNEE. 2009. p. 315-331. (Lecture Notes in Electrical Engineering). https://doi.org/10.1007/978-3-540-89859-7_22
Carballo, Alexander ; Ohya, Akihisa ; Yuta, Shinichi. / People detection using double layered multiple laser range finders by a companion robot. Lecture Notes in Electrical Engineering. Vol. 35 LNEE 2009. pp. 315-331 (Lecture Notes in Electrical Engineering).
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