People detection using range and intensity data from multi-layered Laser Range Finders

Abstract

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.

DOI: 10.1109/IROS.2010.5649769

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Cite this paper

@article{Carballo2010PeopleDU, title={People detection using range and intensity data from multi-layered Laser Range Finders}, author={Alexander Carballo and Akihisa Ohya and Shin'ichi Yuta}, journal={2010 IEEE/RSJ International Conference on Intelligent Robots and Systems}, year={2010}, pages={5849-5854} }