People Detection System for an Autonomous Robotic Platform Integrated with Simultaneous Localization and Mapping
Alberto Torres Angonese1; Paulo Fernando Ferreira Rosa1
1 Instituto Militar de Engenharia
Resumo
This paper presents the implementation of a people detection system for a robotic platform, allowing the exploration and navigation of the robot considering human detection interaction. The robotic platform consists in a Pioneer 3DX robot equipped with a RGB-D camera, a Sick Lms200 sensor laser and a computer using the robot operating system ROS. The idea is to integrate the people detection system to the simultaneous localization and mapping (SLAM) system of the robot using ROS. In this paper, people identification technique is based on HOG (Histogram of Oriented Gradients) detectors. The technique's accurateness were evaluated using two different libraries. The PCL library (Point Cloud Library) implemented in C ++ and MatLab VLFeat library with two variants of HOG, the original one, and the DPM (Deformable Part Model) variant. Testes were made objecting the evaluation of losses and false positives in the people's detection process. It allows to evaluate the people detection system during the navigation and exploration of the robot, considering the real time interaction of people recognition in a semi-structured environment.
Palavras-chave: People Detection; HOG detector; Deformable Part Model; SLAM; Robot Operating System (ROS)