Fusion of double layered multiple laser range finders for people detection from a mobile robot

Alexander Carballo; Akihisa Ohya; Shin'ichi Yuta

doi:10.1109/MFI.2008.4648023

Fusion of double layered multiple laser range finders for people detection from a mobile robot

Alexander Carballo, Akihisa Ohya, Shin'ichi Yuta

研究成果: Paper › 査読

22 被引用数 (Scopus)

抄録

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 fused to produce 360° scan data 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 and accurate people detection and tracking is an important requirement. We present experimental results of fusion steps and people detection in an indoor environment.

本文言語	English
ページ	677-682
ページ数	6
DOI	https://doi.org/10.1109/MFI.2008.4648023
出版ステータス	Published - 2008
外部発表	はい
イベント	2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI - Seoul, Korea, Republic of 継続期間: 2008 8月 20 → 2008 8月 22

Conference

Conference	2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI
国/地域	Korea, Republic of
City	Seoul
Period	08/8/20 → 08/8/22

ASJC Scopus subject areas

制御およびシステム工学
ソフトウェア
コンピュータサイエンスの応用

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10.1109/MFI.2008.4648023

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引用スタイル

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year = "2008",

doi = "10.1109/MFI.2008.4648023",

language = "English",

pages = "677--682",

note = "2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI ; Conference date: 20-08-2008 Through 22-08-2008",

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AU - Carballo, Alexander

AU - Ohya, Akihisa

AU - Yuta, Shin'ichi

PY - 2008

Y1 - 2008

N2 - 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 fused to produce 360° scan data 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 and accurate people detection and tracking is an important requirement. We present experimental results of fusion steps and people detection in an indoor environment.

AB - 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 fused to produce 360° scan data 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 and accurate people detection and tracking is an important requirement. We present experimental results of fusion steps and people detection in an indoor environment.

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T2 - 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI

Y2 - 20 August 2008 through 22 August 2008

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Fusion of double layered multiple laser range finders for people detection from a mobile robot

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Conference

ASJC Scopus subject areas

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