Pedestrian localization in distributed vision system for mobile robot global path planning | |
Guo Y(郭跃); He YJ(贺一家); Wen F(温丰); Yuan K(原魁) | |
2016 | |
会议名称 | IEEE International Conference on Mechatronics and Automation |
会议日期 | August 7-10, 2016 |
会议地点 | Harbin, China |
摘要 |
In this paper, we propose a general framework of a distributed vision system combining pedestrian features with a static map of a mobile robot. In indoor environment with complex architectural structures, mobile robots cannot find the optimal global path only with the static map except moving objects such as pedestrians outside the view of sensors. Therefore, we propose a new calibration approach about the transformation from the pedestrian features in distributed webcams to those in the static map. Robot Operating System (ROS) is used for the mobile robot static map building, global path planning, localization and navigation with the laser scanner. And webcams scattered in indoor environment are available for the distributed vision calibration and pedestrian detection. We assume that light conditions of all the webcams remain relatively constant in indoor environment, then multi-scale Histograms of Oriented Gradients (HOG) slid on normalized sub images accelerates the pedestrian detection, and we also test the detection using convolutional neural networks (CNN). Next, detected features are calculated with calibration parameters and added on the static map. Finally, a real-time global path is planned for our mobile robot given the dynamic map. |
关键词 | Pedestrian Localization Distributed Vision Calibration Mobile Robot Global Path Planning |
收录类别 | EI |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/20967 |
专题 | 智能制造技术与系统研究中心_智能机器人 |
作者单位 | Institute of Automation, Chinese Academy of Sciences |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Guo Y,He YJ,Wen F,et al. Pedestrian localization in distributed vision system for mobile robot global path planning[C],2016. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
icma 2016.pdf(878KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论