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Authors: Francisco F. Sales ; David Portugal and Rui P. Rocha

Affiliation: University of Coimbra, Portugal

ISBN: 978-989-758-040-6

Keyword(s): People Detection, Mapping, Mobile Robot, RGB-D Sensor, ROS.

Related Ontology Subjects/Areas/Topics: Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Perception and Awareness ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; Vision, Recognition and Reconstruction

Abstract: In this paper, we present a robotic system capable of mapping indoor, cluttered environments and, simultaneously, detecting people and localizing them with respect to the map, in real-time, using solely a Red-Green-Blue and Depth (RGB-D) sensor, the Microsoft Kinect, mounted on top of a mobile robotic platform running Robot Operating System (ROS). The system projects depth measures in a plane for mapping purposes, using a grid-based Simultaneous Localization and Mapping (SLAM) approach, and pre-processes the sensor’s point cloud to lower the computational load of people detection, which is performed using a classical technique based on Histogram of Oriented Gradients (HOG) features, and a linear Support Vector Machine (SVM) classifier. Results show the effectiveness of the approach and the potential to use the Kinect in real world scenarios.

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Paper citation in several formats:
F. Sales F., Portugal D. and P. Rocha R. (2014). Real-time People Detection and Mapping System for a Mobile Robot using a RGB-D Sensor.In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 467-474. DOI: 10.5220/0005060604670474

@conference{icinco14,
author={Francisco F. Sales and David Portugal and Rui P. Rocha},
title={Real-time People Detection and Mapping System for a Mobile Robot using a RGB-D Sensor},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={467-474},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005060604670474},
isbn={978-989-758-040-6},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Real-time People Detection and Mapping System for a Mobile Robot using a RGB-D Sensor
SN - 978-989-758-040-6
AU - F. Sales F.
AU - Portugal D.
AU - P. Rocha R.
PY - 2014
SP - 467
EP - 474
DO - 10.5220/0005060604670474

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