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

Alexander Carballo, Akihisa Ohya, Shin'Ichi 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 publicationMultisensor Fusion and Integration for Intelligent Systems
Subtitle of host publicationAn Edition of the Selected Papers from the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems 2008
Pages315-331
Number of pages17
DOIs
Publication statusPublished - 2009 Sep 25
Event7th IEEE International Conference on Multi-Sensor Integration and Fusion, IEEE MFI 2008 - Seoul, Korea, Republic of
Duration: 2008 Aug 202008 Aug 22

Publication series

NameLecture Notes in Electrical Engineering
Volume35 LNEE
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Conference

Conference7th IEEE International Conference on Multi-Sensor Integration and Fusion, IEEE MFI 2008
CountryKorea, Republic of
CitySeoul
Period08/8/2008/8/22

Keywords

  • Feature Extraction
  • Multilayer LRF
  • People Detection

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering

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  • Cite this

    Carballo, A., Ohya, A., & Yuta, SI. (2009). People detection using double layered multiple laser range finders by a companion robot. In Multisensor Fusion and Integration for Intelligent Systems: An Edition of the Selected Papers from the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems 2008 (pp. 315-331). (Lecture Notes in Electrical Engineering; Vol. 35 LNEE). https://doi.org/10.1007/978-3-540-89859-7_22