Naslov
Recognition of Human Characteristics Using Multiple Mobile Robots With 3D LiDARs

Autori
Makita, Koki ; Brščić, Dražen ; Kanda, Takayuki

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Skup
International Symposium on System Integration (IEEE/SICE 2021)

Mjesto i datum
Iwaki, Japan, 11.01.2021. - 14.01.2021

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
LIDAR

Sažetak
Mobile robots are gradually entering our human spaces. Apart from being able to accurately localize themselves, in populated environments robots also need to detect humans and recognize their characteristics. In this work we focused on using 3D LiDARs for sensing, and in particular on the question whether they can be used to classify characteristics of people around the robot. Moreover, since using sensors from multiple robots is expected to give more accurate recognition, we compared several ways how to combine multiple 3D LiDARs. We evaluated these methods using simulator data as well as actual real-world data. For the real-world data we created a novel dataset taken with multiple robots equipped with 3D LiDARs in a shopping center, which also includes manually labeled characteristics of the detected pedestrians. The results show that combining several 3D LiDARs makes the recognition more accurate. However, we were not able to achieve satisfactory accuracy with real-world data.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo

POVEZANOST RADA