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

電気工学科

研究成果: Paper › 査読

21 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 12 1
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 20 → 2008 8 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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abstract = "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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doi = "10.1109/MFI.2008.4648023",

language = "English",

pages = "677--682",

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AU - Carballo, Alexander

AU - Ohya, Akihisa

AU - Yuta, Shin'ichi

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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

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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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