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2005
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A Probabilistic Multimodal Sensor Aggregation Scheme Applied for a Mobile Robot

12 years 1 months ago
A Probabilistic Multimodal Sensor Aggregation Scheme Applied for a Mobile Robot
Dealing with methods of human-robot interaction and using a real mobile robot, stable methods for people detection and tracking are fundamental features of such a system and require information from different sensory. In this paper, we discuss a new approach for integrating several sensor modalities and we present a multimodal people detection and tracking system and its application using the different sensory systems of our mobile interaction robot Horos working in a real office environment. These include a laser-range-finder, a sonar system, and a fisheye-based omnidirectional camera. For each of these sensory information, a separate Gaussian probability distribution is generated to model the belief of the observation of a person. These probability distributions are further combined using a flexible probabilistic aggregation scheme. The main advantages of this approach are a simple integration of further sensory channels, even with different update frequencies and the usability ...
Erik Schaffernicht, Christian Martin, Andrea Schei
Added 28 Jun 2010
Updated 28 Jun 2010
Type Conference
Year 2005
Where KI
Authors Erik Schaffernicht, Christian Martin, Andrea Scheidig, Horst-Michael Gross
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