Moving People Detection in Dynamic Scenes by Stereo Vision
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) ba...
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Published in | Intelligent Science and Intelligent Data Engineering pp. 506 - 512 |
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Main Authors | , , , |
Format | Book Chapter |
Language | English |
Published |
Berlin, Heidelberg
Springer Berlin Heidelberg
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Series | Lecture Notes in Computer Science |
Subjects | |
Online Access | Get full text |
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Summary: | 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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ISBN: | 3642319181 9783642319181 |
ISSN: | 0302-9743 1611-3349 |
DOI: | 10.1007/978-3-642-31919-8_65 |