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  Onboard robust person detection and tracking for domestic service robots

Sanz, D., Ahmad, A., & Lima, P. (2015). Onboard robust person detection and tracking for domestic service robots. In L. Reis, A. Moreira, P. Lima, L. Montano, & V. Muñoz-Martinez (Eds.), Robot 2015: Second Iberian Robotics Conference (pp. 547-559). Cham, Switzerland: Springer.

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Item Permalink: https://hdl.handle.net/11858/00-001M-0000-002A-43C3-D Version Permalink: https://hdl.handle.net/21.11116/0000-0000-7DAE-1
Genre: Conference Paper

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http://link.springer.com/content/pdf/10.10072F978-3-319-27149-1_42.pdf (Publisher version)
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 Creators:
Sanz, D, Author
Ahmad, A1, 2, Author           
Lima, P, Author
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              

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 Abstract: Domestic assistance for the elderly and impaired people is one of the biggest upcoming challenges of our society. Consequently, in-home care through domestic service robots is identified as one of the most important application area of robotics research. Assistive tasks may range from visitor reception at the door to catering for owner's small daily necessities within a house. Since most of these tasks require the robot to interact directly with humans, a predominant robot functionality is to detect and track humans in real time: either the owner of the robot or visitors at home or both. In this article we present a robust method for such a functionality that combines depth-based segmentation and visual detection. The robustness of our method lies in its capability to not only identify partially occluded humans (e.g., with only torso visible) but also to do so in varying lighting conditions. We thoroughly validate our method through extensive experiments on real robot datasets and comparisons with the ground truth. The datasets were collected on a home-like environment set up within the context of RoboCup@Home and RoCKIn@Home competitions.

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 Dates: 2015-11
 Publication Status: Issued
 Pages: -
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 Rev. Type: -
 Identifiers: DOI: 10.1007/978-3-319-27149-1_42
BibTex Citekey: SanzAL2015
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Title: Second Iberian Robotics Conference (ROBOT'2015)
Place of Event: Lisboa, Portugal
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Title: Robot 2015: Second Iberian Robotics Conference
Source Genre: Proceedings
 Creator(s):
Reis, L.P., Editor
Moreira, A.P., Editor
Lima, P.U., Editor
Montano, L., Editor
Muñoz-Martinez, V., Editor
Affiliations:
-
Publ. Info: Cham, Switzerland : Springer
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 547 - 559 Identifier: ISBN: 978-3-319-27148-4

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Title: Advances in Intelligent Systems and Computing ; 418
Source Genre: Series
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Pages: - Volume / Issue: - Sequence Number: - Start / End Page: - Identifier: -