Panoramic vision and LRF sensor fusion based human identification and tracking for autonomous luggage cart

Mehrez Kristou, Akihisa Ohya, Shin'ichi Yuta

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

In this paper, we propose a solution for human identification and localization with a mobile robot problem that implements multi-sensor data fusion techniques. This solution is designed for an autonomous luggage cart. The system utilizes a new approach based on identifying the target human visually from an omni directional camera then localizing and tracking him using LRF. This approach is composed of "Registration Stage" and "Identification and Localization Stage". The registration stage extracts all necessary information needed including patches from the clothes. The identification is made using a modified pattern-matching algorithm to fit to a real time application. The tracking is implemented using a positions history structure to keep record of all positions of surrounding objects and the identified human. We implemented the proposed approach in fixed configuration to test its effectiveness.

本文言語English
ホスト出版物のタイトルRO-MAN 2009 - 18th IEEE International Symposium on Robot and Human Interactive
ページ711-716
ページ数6
DOI
出版ステータスPublished - 2009
イベント18th IEEE International Symposium on Robot and Human Interactive, RO-MAN 2009 - Toyama, Japan
継続期間: 2009 9 272009 10 2

出版物シリーズ

名前Proceedings - IEEE International Workshop on Robot and Human Interactive Communication

Conference

Conference18th IEEE International Symposium on Robot and Human Interactive, RO-MAN 2009
国/地域Japan
CityToyama
Period09/9/2709/10/2

ASJC Scopus subject areas

  • ソフトウェア
  • 人工知能
  • 人間とコンピュータの相互作用

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