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

F. F. Sales, D. Portugal and R. P. Rocha

In Proc. of 11th Int. Conf. on Informatics in Control , Automation and Robotics (ICINCO 2014), Vienna, Austria, pp. 467-474, Sep. 1-3, 2014. DOI: 10.5220/0005060604670474

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 RedGreen-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.

Index Terms — People detection, mapping, mobile robot, RGB-D sensor, ROS.

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BibTeX

@INPROCEEDINGS(Sales_et_al_14,

AUTHOR = "Sales, F. F. and Portugal, D. and Rocha, R. P.",

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

BOOKTITLE = "Proc. of 11th Int. Conf. on Informatics in Control , Automation and Robotics (ICINCO 2014",

ADDRESS = "Vienna, Austria",

YEAR = "2014",

MONTH = "Sep.",

PAGES = "467-474"

)

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Last update: 09/09/2014