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Sensors 2013, 13(11), 14687-14713; doi:10.3390/s131114687
Article

On the Use of a Low-Cost Thermal Sensor to Improve Kinect People Detection in a Mobile Robot

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Received: 10 September 2013; in revised form: 2 October 2013 / Accepted: 21 October 2013 / Published: 29 October 2013
(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Spain 2013)
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Abstract: Detecting people is a key capability for robots that operate in populated environments. In this paper, we have adopted a hierarchical approach that combines classifiers created using supervised learning in order to identify whether a person is in the view-scope of the robot or not. Our approach makes use of vision, depth and thermal sensors mounted on top of a mobile platform. The set of sensors is set up combining the rich data source offered by a Kinect sensor, which provides vision and depth at low cost, and a thermopile array sensor. Experimental results carried out with a mobile platform in a manufacturing shop floor and in a science museum have shown that the false positive rate achieved using any single cue is drastically reduced. The performance of our algorithm improves other well-known approaches, such as C4 and histogram of oriented gradients (HOG).
Keywords: sensor fusion; people detection; computer vision; hierarchical classification; mobile robot/platform sensor fusion; people detection; computer vision; hierarchical classification; mobile robot/platform
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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MDPI and ACS Style

Susperregi, L.; Sierra, B.; Castrillón, M.; Lorenzo, J.; Martínez-Otzeta, J.M.; Lazkano, E. On the Use of a Low-Cost Thermal Sensor to Improve Kinect People Detection in a Mobile Robot. Sensors 2013, 13, 14687-14713.

AMA Style

Susperregi L, Sierra B, Castrillón M, Lorenzo J, Martínez-Otzeta JM, Lazkano E. On the Use of a Low-Cost Thermal Sensor to Improve Kinect People Detection in a Mobile Robot. Sensors. 2013; 13(11):14687-14713.

Chicago/Turabian Style

Susperregi, Loreto; Sierra, Basilio; Castrillón, Modesto; Lorenzo, Javier; Martínez-Otzeta, Jose M.; Lazkano, Elena. 2013. "On the Use of a Low-Cost Thermal Sensor to Improve Kinect People Detection in a Mobile Robot." Sensors 13, no. 11: 14687-14713.


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