Recognition of Human Characteristics Using Multiple Mobile Robots With 3D LiDARs

被引:0
|
作者
Makita, Koki [1 ]
Brscic, Drazen [1 ]
Kanda, Takayuki [1 ]
机构
[1] Kyoto Univ, HRI Lab, Kyoto, Japan
来源
2021 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) | 2021年
关键词
TRACKING;
D O I
10.1109/IEEECONF49454.2021.9382640
中图分类号
TP39 [计算机的应用];
学科分类号
081203 ; 0835 ;
摘要
Mobile robots are gradually entering our human spaces. Apart from being able to accurately localize themselves, in populated environments robots also need to detect humans and recognize their characteristics. In this work we focused on using 3D LiDARs for sensing, and in particular on the question whether they can be used to classify characteristics of people around the robot. Moreover, since using sensors from multiple robots is expected to give more accurate recognition, we compared several ways how to combine multiple 3D LiDARs. We evaluated these methods using simulator data as well as actual real-world data. For the real-world data we created a novel dataset taken with multiple robots equipped with 3D LiDARs in a shopping center, which also includes manually labeled characteristics of the detected pedestrians. The results show that combining several 3D LiDARs makes the recognition more accurate. However, we were not able to achieve satisfactory accuracy with real-world data.
引用
收藏
页码:650 / 655
页数:6
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