Authors:
Francisco F. Sales
;
David Portugal
and
Rui P. Rocha
Affiliation:
University of Coimbra, Portugal
Keyword(s):
People Detection, Mapping, Mobile Robot, RGB-D Sensor, ROS.
Related
Ontology
Subjects/Areas/Topics:
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mobile Robots and Autonomous Systems
;
Perception and Awareness
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
Vision, Recognition and Reconstruction
Abstract:
In this paper, we present a robotic system capable of mapping indoor, cluttered environments and, simultaneously, detecting people and localizing them with respect to the map, in real-time, using solely a Red-Green-Blue and Depth (RGB-D) sensor, the Microsoft Kinect, mounted on top of a mobile robotic platform running Robot Operating System (ROS). The system projects depth measures in a plane for mapping purposes, using a grid-based Simultaneous Localization and Mapping (SLAM) approach, and pre-processes the sensor’s point cloud to lower the computational load of people detection, which is performed using a classical technique based on Histogram of Oriented Gradients (HOG) features, and a linear Support Vector Machine (SVM) classifier. Results show the effectiveness of the approach and the potential to use the Kinect in real world scenarios.