- Author
- Year
- 2012
- host editors
-
A.A. Salah
J. Ruiz-del-Solar
Ç. Meriçli
P.-Y. Oudeyer - Title
- Bayesian fusion of ceiling mounted camera and laser range finder on a mobile robot for people detection and localization
- Event
- 3rd International Workshop on Human Behavior Understanding
- Book/source title
- Human Behavior Understanding
- Book/source subtitle
- Third International Workshop, HBU 2012, Vilamoura, Portugal, October 7, 2012: proceedings
- Pages (from-to)
- 41-51
- Publisher
- Heidelberg: Springer
- ISBN
- 9783642340130
- ISBN (electronic)
- 9783642340147
- Series
- Lecture Notes in Computer Science, 0302-9743, 7559
- Document type
- Conference contribution
- Faculty
- Faculty of Science (FNWI)
- Institute
- Informatics Institute (IVI)
- Abstract
-
Robust people detection and localization is a prerequisite for many applications where service robots interact with humans. Future robots will not be stand-alone any more but will operate in smart environments that are equipped with sensor systems for context awareness and activity recognition. This paper describes a probabilistic framework for the fusion of data from a laser range finder on a mobile robot and an overhead camera fixed in a domestic environment. The contribution of the framework is that it enables seamless integration with other sensors. For tracking multiple people it is possible to use a probabilistic particle filter tracker. We show that the fusion improves the results of the individual subsystems.
- URL
- go to publisher's site
- Language
- English
- Persistent Identifier
- https://hdl.handle.net/11245/1.374854
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