People detection using range and intensity data from multi-layered laser range finders

Alexander Carballo, Akihisa Ohya, Shinichi Yuta

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

25 Citations (Scopus)

Abstract

Effective detection of people is a basic requirement for robot coexistence in human environments. In our previous work [1] we proposed a method for people detection and position estimation using multiple layers of Laser Range Finders (LRF) in a mobile robot. We extend our work by introducing laser reflection intensity as a novel feature for people detection, achieving significant improvement of detection rates. In concrete, we propose a method for calibration of laser intensity data, a method for segment separation using laser intensity, and introduce two new intensity-based features for people detection: the variance of laser intensity and the variance of intensity differences. We present experimental results that confirm the effectiveness of our multi-layered detection method including laser intensity.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages5849-5854
Number of pages6
DOIs
Publication statusPublished - 2010
Externally publishedYes
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei
Duration: 2010 Oct 182010 Oct 22

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CityTaipei
Period10/10/1810/10/22

Fingerprint

Range finders
Lasers
Mobile robots
Calibration
Concretes
Robots

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Carballo, A., Ohya, A., & Yuta, S. (2010). People detection using range and intensity data from multi-layered laser range finders. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 5849-5854). [5649769] https://doi.org/10.1109/IROS.2010.5649769

People detection using range and intensity data from multi-layered laser range finders. / Carballo, Alexander; Ohya, Akihisa; Yuta, Shinichi.

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 5849-5854 5649769.

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

Carballo, A, Ohya, A & Yuta, S 2010, People detection using range and intensity data from multi-layered laser range finders. in IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings., 5649769, pp. 5849-5854, 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, 10/10/18. https://doi.org/10.1109/IROS.2010.5649769
Carballo A, Ohya A, Yuta S. People detection using range and intensity data from multi-layered laser range finders. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 5849-5854. 5649769 https://doi.org/10.1109/IROS.2010.5649769
Carballo, Alexander ; Ohya, Akihisa ; Yuta, Shinichi. / People detection using range and intensity data from multi-layered laser range finders. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. pp. 5849-5854
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