Abstract
Robust people localization on a moving robot platform is an important and challenge research topic. In this paper, we present a novel moving people detection approach and system on a mobile robot platform. The proposed method mainly contains two parts: (1) A Histograms of Oriented Gradients (HOG) based detector is adopted to detect the human candidates in the dynamic scene; (2) Geometric constraints are computed to handle the ghost problem, including the depth information from a stereo camera and the external parameters of the camera calibration. To evaluate the proposed approach, a robust people detection system is developed on a moving robot platform. Extensive experiment results with challenge indoor and outdoor scenarios demonstrate the robustness and efficiency of our approach.
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© 2012 Springer-Verlag Berlin Heidelberg
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Zhuo, T., Zhang, Y., Yang, T., Zhang, X. (2012). Moving People Detection in Dynamic Scenes by Stereo Vision. In: Zhang, Y., Zhou, ZH., Zhang, C., Li, Y. (eds) Intelligent Science and Intelligent Data Engineering. IScIDE 2011. Lecture Notes in Computer Science, vol 7202. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31919-8_65
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DOI: https://doi.org/10.1007/978-3-642-31919-8_65
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-31918-1
Online ISBN: 978-3-642-31919-8
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