Person searching through an omnidirectional camera using CNN in the tsukuba challenge

Shingo Nakamura, Tadahiro Hasegawa, Tsubasa Hiraoka, Yoshinori Ochiai, Shinichi Yuta

研究成果: Article

1 引用 (Scopus)

抄録

The Tsukuba Challenge is a competition, in which autonomous mobile robots run on a route set on a public road under a real environment. Their task includes not only simple running but also finding multiple specific persons at the same time. This study proposes a method that would realize person searching. While many person-searching algorithms use a laser sensor and a camera in combination, our method only uses an omnidirectional camera. The search target is detected using a convolutional neural network (CNN) that performs a classification of the search target. Training a CNN requires a great amount of data for which pseudo images created by composition are used. Our method is implemented in an autonomous mobile robot, and its performance has been verified in the Tsukuba Challenge 2017.

元の言語English
ページ(範囲)540-551
ページ数12
ジャーナルJournal of Robotics and Mechatronics
30
発行部数4
DOI
出版物ステータスPublished - 2018 8 1

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Mobile robots
Cameras
Neural networks
Lasers
Sensors
Chemical analysis

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering

これを引用

Person searching through an omnidirectional camera using CNN in the tsukuba challenge. / Nakamura, Shingo; Hasegawa, Tadahiro; Hiraoka, Tsubasa; Ochiai, Yoshinori; Yuta, Shinichi.

:: Journal of Robotics and Mechatronics, 巻 30, 番号 4, 01.08.2018, p. 540-551.

研究成果: Article

Nakamura, Shingo ; Hasegawa, Tadahiro ; Hiraoka, Tsubasa ; Ochiai, Yoshinori ; Yuta, Shinichi. / Person searching through an omnidirectional camera using CNN in the tsukuba challenge. :: Journal of Robotics and Mechatronics. 2018 ; 巻 30, 番号 4. pp. 540-551.
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