Naslov
SNAPCAT-3D: Calibrating Networks of 3D Range Sensors for Pedestrian Tracking

Autori
Glas, Dylan F. ; Brščić, Dražen ; Miyashita, Takahiro ; Hagita, Norihiro

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

Izvornik
IEEE International Conference on Robotics and Automation ICRA 2015 / - Seattle (WA), 2015, 712-719

Skup
IEEE International Conference on Robotics and Automation ICRA 2015

Mjesto i datum
Seattle (WA), Sjedinjene Američke Države, 26.05.2015. - 30.05.2015

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
sensor calibration ; person tracking ; laser range finders ; 3D range sensors

Sažetak
The use of 3D range sensors for human position tracking has grown in recent years, especially for augmenting robotic sensing for human-robot interaction. However, extrinsic calibration of the relative positions of 3D range sensors is difficult, due to their limited range, narrow field of view, and distortion at large distances. 2D laser range finders have also been used for pedestrian tracking, providing greater accuracy and coverage at the cost of being more expensive and susceptible to occlusion. In this work, we present two novel techniques for calibrating the positions of 3D range sensors based on shared observations of pedestrians. The first technique uses 3D range sensors alone, and the second technique uses 2D and 3D range sensors together, using the high precision and long range of the 2D sensors to complement the short-range but richer sensing of 3D range sensors. We evaluate the accuracy of both automatic calibration techniques, and we furthermore show that the combination of 2D and 3D sensors gives more robust and accurate calibration than when using 3D sensors alone.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo, Temeljne tehničke znanosti

POVEZANOST RADA