Thermal and 3D Kinect Sensor Fusion for Robust People Detection using Evolutionary Selection of Supervised Classifiers

Loreto Susperregi, Ekaitz Jauregi, Basilio Sierra, José María Martínez-Otzeta, Elena Lazkano, Ander Ansuategi

2013

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 classification algorithms and with the combination of the three information sources.

Paper Citation

in Harvard Style

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 1: ICINCO, ISBN 978-989-8565-71-6, pages 102-110. DOI: 10.5220/0004397601020110

in Bibtex Style

@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 1: ICINCO,},
year={2013},
pages={102-110},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004397601020110},
isbn={978-989-8565-71-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: 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