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
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 202008 8月 22

Conference

Conference2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI
国/地域Korea, Republic of
CitySeoul
Period08/8/2008/8/22

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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