People detection using range and intensity data from multi-layered laser range finders

Alexander Carballo, Akihisa Ohya, Shin'ichi Yuta

研究成果: Conference contribution

30 被引用数 (Scopus)

抄録

Effective detection of people is a basic requirement for robot coexistence in human environments. In our previous work [1] we proposed a method for people detection and position estimation using multiple layers of Laser Range Finders (LRF) in a mobile robot. We extend our work by introducing laser reflection intensity as a novel feature for people detection, achieving significant improvement of detection rates. In concrete, we propose a method for calibration of laser intensity data, a method for segment separation using laser intensity, and introduce two new intensity-based features for people detection: the variance of laser intensity and the variance of intensity differences. We present experimental results that confirm the effectiveness of our multi-layered detection method including laser intensity.

本文言語English
ホスト出版物のタイトルIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
ページ5849-5854
ページ数6
DOI
出版ステータスPublished - 2010
外部発表はい
イベント23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
継続期間: 2010 10月 182010 10月 22

出版物シリーズ

名前IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
国/地域Taiwan, Province of China
CityTaipei
Period10/10/1810/10/22

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用
  • 制御およびシステム工学

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