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Authors: Loreto Susperregi 1 ; Ekaitz Jauregi 2 ; Basilio Sierra 2 ; José María Martínez-Otzeta 1 ; Elena Lazkano 2 and Ander Ansuategi 1

Affiliations: 1 TEKNIKER-IK4, Spain ; 2 University of Basque Country, Spain

Keyword(s): Computer Vision, Machine Learning, Robotics, 3D People Detection, Estimation of Distribution Algorithms.

Abstract: In this paper we propose a novel approach for combining information from low cost multiple sensors for people detection on a mobile robot. Robustly detecting people is a key capability needed for robots that operate inpopulated environments. Several works show the advantages of fusing data coming from complementary sensors. Kinect sensor offers a rich data set at a significantly low cost, however, there are some limitations using it in a mobile platform, mainly that Kinect relies on images captured by a static camera. To cope with these limitations, this work is based on the fusion of Kinect and thermopile array sensor mounted on top of a mobile platform. We propose the implementation of evolutionary selection of people detection supervised classifiers built using several computer vision transformation. Experimental results carried out with a mobile platform in a manufacturing shop floor show that the percentage of wrong classified using only Kinect is drastically reduced with the cl assification algorithms and with the combination of the three information sources. (More)

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Paper citation in several formats:
Susperregi, L.; Jauregi, E.; Sierra, B.; María Martínez-Otzeta, J.; Lazkano, E. and Ansuategi, A. (2013). Thermal and 3D Kinect Sensor Fusion for Robust People Detection using Evolutionary Selection of Supervised Classifiers. In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-8565-71-6; ISSN 2184-2809, SciTePress, pages 102-110. DOI: 10.5220/0004397601020110

@conference{icinco13,
author={Loreto Susperregi. and Ekaitz Jauregi. and Basilio Sierra. and José {María Martínez{-}Otzeta}. and Elena Lazkano. and Ander Ansuategi.},
title={Thermal and 3D Kinect Sensor Fusion for Robust People Detection using Evolutionary Selection of Supervised Classifiers},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2013},
pages={102-110},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004397601020110},
isbn={978-989-8565-71-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Thermal and 3D Kinect Sensor Fusion for Robust People Detection using Evolutionary Selection of Supervised Classifiers
SN - 978-989-8565-71-6
IS - 2184-2809
AU - Susperregi, L.
AU - Jauregi, E.
AU - Sierra, B.
AU - María Martínez-Otzeta, J.
AU - Lazkano, E.
AU - Ansuategi, A.
PY - 2013
SP - 102
EP - 110
DO - 10.5220/0004397601020110
PB - SciTePress

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