Active human detection with a mobile robot

Heshmat, Mohamed and Fernandez-Carmona, Manuel and Yan, Zhi and Bellotto, Nicola (2017) Active human detection with a mobile robot. In: UK-RAS Conference on Robotics and Autonomous Systems, 12 Dec 2017, Bristol.

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Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive

Abstract

The problem of active human detection with a mobile robot equipped with an RGB-D camera is considered in this work. Traditional human detection algorithms for indoor mobile robots face several challenges, including occlusions due to cluttered dynamic environments, changing backgrounds, and large variety of human movements. Active human detection aims to improve classic detection systems by actively selecting new and potentially better observation points of the person. In this preliminary work, we present a system that actively guides a mobile robot towards high-confidence human detections, including initial simulation tests that highlight pros and cons of the proposed approach.

Keywords:Robotics, active perception, human detection
Subjects:H Engineering > H671 Robotics
G Mathematical and Computer Sciences > G700 Artificial Intelligence
Divisions:College of Science > School of Computer Science
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ID Code:29946
Deposited On:08 Dec 2017 15:58

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