DocumentCode :
1826221
Title :
Person identification by mobile robots in indoor environments
Author :
Cielniak, Grzegorz ; Duckett, Tom
Author_Institution :
Dept. of Technol., Orebro Univ., Sweden
fYear :
2003
fDate :
5-6 June 2003
Abstract :
This paper addresses the problem of identifying persons with a mobile robot. In the proposed system, people are first detected and then tracked with the robot´s laser range-finder sensor, using an independent Kalman filter for each person. After segmentation, the rectangular region of the image containing the person is divided into regions corresponding to the person´s head, torso and legs. Colour features are extracted from each region for input to a pattern recognition system. Five alternative classification methods were investigated, including experiments on a real robot and with a static camera system. The best identification performance was obtained with an ensemble of self-organizing maps (ESOM), where one self-organizing map is trained for each person in the robot´s database. We also discuss how to incorporate the new method into a complete application of a robotic security guard.
Keywords :
Kalman filters; cameras; image segmentation; mobile robots; pattern recognition; security; self-organising feature maps; sensors; Kalman filter; colour features; indoor environments; mobile robot; pattern recognition; person identification; robotic security guard; robots database; robots laser range finder sensor; segmentation; self-organizing maps; static camera system; Feature extraction; Head; Image segmentation; Indoor environments; Leg; Mobile robots; Pattern recognition; Robot sensing systems; Sensor systems; Torso;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotic Sensing, 2003. ROSE' 03. 1st International Workshop on
Print_ISBN :
0-7803-8109-2
Type :
conf
DOI :
10.1109/ROSE.2003.1218704
Filename :
1218704
Link To Document :
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