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Zoekopdracht: faculteit: "FNWI" en publicatiejaar: "2012"

AuteursN. Hu, G. Englebienne, B.J.A. Kröse
TitelBayesian fusion of ceiling mounted camera and laser range finder on a mobile robot for people detection and localization
Boek/bron titelHuman Behavior Understanding: Third International Workshop, HBU 2012. Vilamoura, Portugal, October 7, 2012. Proceedings
Auteurs/EditorsA.A. Salah, J. Ruiz-del-Solar, Ç Meriçli, P.-Y. Oudeyer
FaculteitFaculteit der Natuurwetenschappen, Wiskunde en Informatica
Instituut/afd.FNWI: Informatics Institute (II)
SamenvattingRobust people detection and localization is a prerequisite for many applications where service robots interact with humans. Future robots will not be stand-alone any more but will operate in smart environments that are equipped with sensor systems for context awareness and activity recognition. This paper describes a probabilistic framework for the fusion of data from a laser range finder on a mobile robot and an overhead camera fixed in a domestic environment. The contribution of the framework is that it enables seamless integration with other sensors. For tracking multiple people it is possible to use a probabilistic particle filter tracker. We show that the fusion improves the results of the individual subsystems.
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