People Detection and Localization in Real Time during Navigation of Autonomous Robots

被引：7

作者：

Lovon-Ramos, Percy W. ^{[1
]}

Rosas-Cuevas, Yessica ^{[1
]}

Cervantes-Jilaja, Claudia ^{[1
]}

Tejada-Begazo, Maria ^{[1
]}

Patino-Escarcina, Raquel E. ^{[1
]}

Barrios-Aranibar, Dennis ^{[1
]}

机构：

[1] Univ Catolica San Pablo, Ctr Invest Ciencia Comput, Gr Invest LARVIC, Arequipa, Peru

来源：

PROCEEDINGS OF 13TH LATIN AMERICAN ROBOTICS SYMPOSIUM AND 4TH BRAZILIAN SYMPOSIUM ON ROBOTICS - LARS/SBR 2016 | 2016年

关键词：

People detection; Vanishing Point; HOG method; Autonomous Vehicle Navigation;

D O I：

10.1109/LARS-SBR.2016.47

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Currently the navigation involves the interaction of the robot with its environment, this means that the robot has to find the position of obstacles (natural brands and artificial) with respect to its plane. Its environment is time-variant and computer vision can help it to localization and people detection in real time. This article focuses on the detection and localization of people with respect to plane of the robot during the navigation of autonomous robot; for people detection is used Morphological HOG Face Detection algorithm in real-time; where our goal is to localization people in the plane of the robot, obtaining position information relative to the X-Axis (left, right, obstacle) and with the Y-Axis (near, medium, far) with respect robot; to identify the environment in that it's located in the robot is applied the vanishing point detection. Experiments show that people detection and localization is better in the medium region (201 to 600 cm) obtaining 93.13% of accuracy, this allows the robot has enough time to evade the obstacle during navigation; the navigation getting 97.03% of accuracy for the vanishing point detection.

引用

页码：239 / 244

页数：6

共 12 条

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[12] A new pedestrian detection method based on combined HOG and LSS features [J].

Yao, Shihong ;

Pan, Shaoming ;

Wang, Tao ;

Zheng, Chunhou ;

Shen, Weiming ;

Chong, Yanwen .

NEUROCOMPUTING, 2015, 151 :1006-1014

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