Next Article in Journal
Robust Depth Estimation and Image Fusion Based on Optimal Area Selection
Next Article in Special Issue
Distributed Pedestrian Detection Alerts Based on Data Fusion with Accurate Localization
Previous Article in Journal
Oriented Immobilization of His-Tagged Protein on a Redox Active Thiol Derivative of DPTA-Cu(II) Layer Deposited on a Gold Electrode—The Base of Electrochemical Biosensors
Previous Article in Special Issue
Study of the Effect of the Strategy of Heating on the Mudejar Church of Santa Maria in Ateca (Spain) for Preventive Conservation of the Altarpiece Surroundings
Sensors 2013, 13(9), 11603-11635; doi:10.3390/s130911603
Article

Human Detection from a Mobile Robot Using Fusion of Laser and Vision Information

* ,
 and
Received: 25 June 2013; in revised form: 27 August 2013 / Accepted: 31 August 2013 / Published: 4 September 2013
(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Spain 2013)
View Full-Text   |   Download PDF [3478 KB, uploaded 21 June 2014]   |   Browse Figures
Abstract: This paper presents a human detection system that can be employed on board a mobile platform for use in autonomous surveillance of large outdoor infrastructures. The prediction is based on the fusion of two detection modules, one for the laser and another for the vision data. In the laser module, a novel feature set that better encapsulates variations due to noise, distance and human pose is proposed. This enhances the generalization of the system, while at the same time, increasing the outdoor performance in comparison with current methods. The vision module uses the combination of the histogram of oriented gradients descriptor and the linear support vector machine classifier. Current approaches use a fixed-size projection to define regions of interest on the image data using the range information from the laser range finder. When applied to small size unmanned ground vehicles, these techniques suffer from misalignment, due to platform vibrations and terrain irregularities. This is effectively addressed in this work by using a novel adaptive projection technique, which is based on a probabilistic formulation of the classifier performance. Finally, a probability calibration step is introduced in order to optimally fuse the information from both modules. Experiments in real world environments demonstrate the robustness of the proposed method.
Keywords: human detection; unmanned ground vehicle; outdoors surveillance; sensor fusion; laser range finder; monocular vision human detection; unmanned ground vehicle; outdoors surveillance; sensor fusion; laser range finder; monocular vision
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.

Export to BibTeX |
EndNote


MDPI and ACS Style

Fotiadis, E.P.; Garzón, M.; Barrientos, A. Human Detection from a Mobile Robot Using Fusion of Laser and Vision Information. Sensors 2013, 13, 11603-11635.

AMA Style

Fotiadis EP, Garzón M, Barrientos A. Human Detection from a Mobile Robot Using Fusion of Laser and Vision Information. Sensors. 2013; 13(9):11603-11635.

Chicago/Turabian Style

Fotiadis, Efstathios P.; Garzón, Mario; Barrientos, Antonio. 2013. "Human Detection from a Mobile Robot Using Fusion of Laser and Vision Information." Sensors 13, no. 9: 11603-11635.


Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert