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IBERAMIA
2010
Springer

Detection of Multiple People by a Mobile Robot in Dynamic Indoor Environments

9 years 11 months ago
Detection of Multiple People by a Mobile Robot in Dynamic Indoor Environments
Detection of multiple people is a key element for social robot design and it is a requirement for effective human-robot interaction. However, it is not an easy task, especially in complex real world scenarios that commonly involve unpredictable motion of people. This paper focuses on detecting multiple people with a mobile robot by fusing information from different sensors over time. The proposed approach applies a segmentation method that uses the distance to the objects to separate possible people from the background and a novel adaptive contour people model to obtain a probability of detecting people. A probabilistic skin model is also applied to the images and both evidences are merged and used over time with a Bayesian scheme to detect people. We present experimental results that demonstrate how the proposed method is able to detect people who is standing, sitting and leaning sideways using a mobile robot in cluttered real world scenarios.
José Alberto Méndez-Polanco, Ang&eac
Added 25 Jan 2011
Updated 25 Jan 2011
Type Journal
Year 2010
Where IBERAMIA
Authors José Alberto Méndez-Polanco, Angélica Muñoz-Meléndez, Eduardo F. Morales-Manzanares
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