Real-time People Detection and Mapping System for a Mobile Robot using a RGB-D Sensor

Francisco F. Sales, David Portugal, Rui P. Rocha

2014

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.

Paper Citation

in Harvard Style

F. Sales F., Portugal D. and P. Rocha R. (2014). Real-time People Detection and Mapping System for a Mobile Robot using a RGB-D Sensor . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 467-474. DOI: 10.5220/0005060604670474

in Bibtex Style

@conference{icinco14,
author={Francisco F. Sales and David Portugal and Rui P. Rocha},
title={Real-time People Detection and Mapping System for a Mobile Robot using a RGB-D Sensor},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={467-474},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005060604670474},
isbn={978-989-758-040-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Real-time People Detection and Mapping System for a Mobile Robot using a RGB-D Sensor
SN - 978-989-758-040-6
AU - F. Sales F.
AU - Portugal D.
AU - P. Rocha R.
PY - 2014
SP - 467
EP - 474
DO - 10.5220/0005060604670474