Abstract

This paper addresses the problem of detecting people in two dimensional range scans. Previous approaches have mostly used pre-defined features for the detection and tracking of people. We propose an approach that utilizes a supervised learning technique to create a classifier that facilitates the detection of people. In particular, our approach applies
AdaBoost to train a strong classifier from simple features of groups of neighboring beams corresponding to legs in range
data. Experimental results carried out with laser range data illustrate the robustness of our approach even in cluttered office environments.