Lidar and Vision Based People Detection and Tracking

被引：0
|
作者：
Tamas, L. [1 ]
Popa, M. [1 ]
Lazea, Gh. [1 ]
Szoke, I. [1 ]
Majdik, A. [1 ]
机构：
[1] Tech Univ Cluj Napoca, Robot Res Grp, Cluj Napoca, Romania
来源：
CONTROL ENGINEERING AND APPLIED INFORMATICS | 2010年 / 12卷 / 02期
关键词：
Detection and tracking systems; visual pattern recognition; laser range finders;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a multi-sensor architecture to detect moving persons based on the information aquired from a lidar and vision systems. The detection of the objects are performed relative to the estimated robot position. For the lidar the Gaussian Mixture Model (GMM) classifier and for the vision the AdaBoost classifier is used from which the outputs are combined with the Bayesian rule. The estimated person positions are tracked via the Extended Kalman filter. The main aim of the paper was to reduce the false positives in the detection process with the use of a sequentially combined classifiers.
引用
收藏
页码：30 / 35
页数：6
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