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Authors: Basilio Sierra 1 ; 1 ; Ekaitz Jauregi 1 ; José María Martínez-Otzeta 2 ; Elena Lazkano 1 and Ander Ansuategi 2

Affiliations: 1 University of Basque Country, Spain ; 2 TEKNIKER-IK4, Spain

ISBN: 978-989-8565-71-6

Keyword(s): Computer Vision, Machine Learning, Robotics, 3D People Detection, Estimation of Distribution Algorithms.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Artificial Intelligence and Decision Support Systems ; Computational Intelligence ; Enterprise Information Systems ; Evolutionary Computation and Control ; Image Processing ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Perception and Awareness ; Robotics and Automation ; Soft Computing ; Vision, Recognition and Reconstruction

Abstract: In this paper we propose a novel approach for combining information from low cost multiple sensors for people detection on a mobile robot. Robustly detecting people is a key capability needed for robots that operate inpopulated environments. Several works show the advantages of fusing data coming from complementary sensors. Kinect sensor offers a rich data set at a significantly low cost, however, there are some limitations using it in a mobile platform, mainly that Kinect relies on images captured by a static camera. To cope with these limitations, this work is based on the fusion of Kinect and thermopile array sensor mounted on top of a mobile platform. We propose the implementation of evolutionary selection of people detection supervised classifiers built using several computer vision transformation. Experimental results carried out with a mobile platform in a manufacturing shop floor show that the percentage of wrong classified using only Kinect is drastically reduced with the cla ssification algorithms and with the combination of the three information sources. (More)

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Paper citation in several formats:
Susperregi, L.; Jauregi, E.; Sierra, B.; María Martínez-Otzeta, J.; Lazkano, E. and Ansuategi, A. (2013). Thermal and 3D Kinect Sensor Fusion for Robust People Detection using Evolutionary Selection of Supervised Classifiers.In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-71-6, pages 102-110. DOI: 10.5220/0004397601020110

@conference{icinco13,
author={Loreto Susperregi. and Ekaitz Jauregi. and Basilio Sierra. and José María Martínez{-}Otzeta. and Elena Lazkano. and Ander Ansuategi.},
title={Thermal and 3D Kinect Sensor Fusion for Robust People Detection using Evolutionary Selection of Supervised Classifiers},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2013},
pages={102-110},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004397601020110},
isbn={978-989-8565-71-6},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Thermal and 3D Kinect Sensor Fusion for Robust People Detection using Evolutionary Selection of Supervised Classifiers
SN - 978-989-8565-71-6
AU - Susperregi, L.
AU - Jauregi, E.
AU - Sierra, B.
AU - María Martínez-Otzeta, J.
AU - Lazkano, E.
AU - Ansuategi, A.
PY - 2013
SP - 102
EP - 110
DO - 10.5220/0004397601020110

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