Fusion of double layered multiple laser range finders for people detection from a mobile robot


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 fused to produce 360deg scan data of robotpsilas 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 and accurate people detection and tracking is an important requirement. We present experimental results of fusion steps and people detection in an indoor environment.

DOI: 10.1109/MFI.2008.4648023

9 Figures and Tables

Showing 1-10 of 13 references

Óscar Martínez Mozos and Wolfram Burgard Using Boosted Features for the Detection of People in 2D Range Data

  • Kai O Arras
  • 2007
2 Excerpts

Integration and Synchronization of External Sensor Data for a Mobile Robot

  • Eijiro Takeuchi, Takashi Tsubouchi, Shin 'ichi, Yuta
  • 2003
Showing 1-10 of 13 extracted citations