People detection using double layered multiple laser range finders by a companion robot

Alexander Carballo, Akihisa Ohya, Shin'Ichi Yuta

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Successful detection and tracking of people is a basic requirement to achieve a robot symbiosis in people daily life. Specifically, a mobile robot designed to follow people needs to keep track of people position through time, for it defines the robot's position and trajectory. 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 combined to produce a 360° representation 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 but 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
ホスト出版物のタイトルMultisensor Fusion and Integration for Intelligent Systems
ホスト出版物のサブタイトルAn Edition of the Selected Papers from the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems 2008
ページ315-331
ページ数17
DOI
出版ステータスPublished - 2009 9 25
イベント7th IEEE International Conference on Multi-Sensor Integration and Fusion, IEEE MFI 2008 - Seoul, Korea, Republic of
継続期間: 2008 8 202008 8 22

出版物シリーズ

名前Lecture Notes in Electrical Engineering
35 LNEE
ISSN(印刷版)1876-1100
ISSN(電子版)1876-1119

Conference

Conference7th IEEE International Conference on Multi-Sensor Integration and Fusion, IEEE MFI 2008
国/地域Korea, Republic of
CitySeoul
Period08/8/2008/8/22

ASJC Scopus subject areas

  • 産業および生産工学

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