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
相关论文
共 50 条
  • [31] An Inexpensive 3D Scanner for Indoor Mobile Robots
    Ryde, Julian
    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009, : 5185 - 5190
  • [32] Building 3D semantic maps for mobile robots using RGB-D camera
    Zhe Zhao
    Xiaoping Chen
    Intelligent Service Robotics, 2016, 9 : 297 - 309
  • [33] Building 3D semantic maps for mobile robots using RGB-D camera
    Zhao, Zhe
    Chen, Xiaoping
    INTELLIGENT SERVICE ROBOTICS, 2016, 9 (04) : 297 - 309
  • [34] Multi-Camera Sensor System for 3D Segmentation and Localization of Multiple Mobile Robots
    Losada, Cristina
    Mazo, Manuel
    Palazuelos, Sira
    Pizarro, Daniel
    Marron, Marta
    SENSORS, 2010, 10 (04) : 3261 - 3279
  • [35] Localization of mobile robots by multiple landmark recognition
    Ozawa, Ryohei
    Mae, Yasushi
    Minami, Mamoru
    PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-8, 2007, : 1524 - +
  • [36] 2D and 3D face recognition using multiple transformation
    Department of Electronics and Communication, College of Engineering Kidangoor, Kottayam-686583, Kerala, India
    不详
    Adv Model Anal B, 2009, 1-2 (25-41):
  • [37] Place recognition and navigation of outdoor mobile robots based on random Forest learning with a 3D LiDAR
    Zhou, Bo
    He, Yi
    Huang, Wenchao
    Yu, Xiang
    Fang, Fang
    Li, Xiaomao
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2022, 104 (04)
  • [38] Human Tracking by a Mobile Robot using 3D Features
    Ali, Badar
    Qureshi, Ahmed Hussain
    Iqbal, Khawaja Fahad
    Ayaz, Yasar
    Gilani, Syed Omer
    Jamil, Mohsin
    Muhammad, Naveed
    Ahmed, Faizan
    Muhammad, Mannan Saeed
    Kim, Whoi-Yul
    Ra, Moonsoo
    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2013, : 2464 - 2469
  • [39] Place recognition and navigation of outdoor mobile robots based on random Forest learning with a 3D LiDAR
    Bo Zhou
    Yi He
    Wenchao Huang
    Xiang Yu
    Fang Fang
    Xiaomao Li
    Journal of Intelligent & Robotic Systems, 2022, 104
  • [40] Obtaining 3D Dense Thermal Models of Interiors of Buildings Using Mobile Robots
    Adan, Antonio
    Lopez-Rey, Alejandro
    Ramon, Amanda
    ROBOT2022: FIFTH IBERIAN ROBOTICS CONFERENCE: ADVANCES IN ROBOTICS, VOL 1, 2023, 589 : 3 - 14