The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2008
Session ID : 2P1-G14
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2P1-G14 Pedestrian Detection Method by Using 3D Optical Flow Sequence for a Mobile Robot
Takahiro NAKADASatoshi KAGAMIHiroshi MIZOGUCHI
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CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract
As for the pedestrian detection method, It ever proposed various one. But it can't detects the pedestrian in dynamic environment. So we researched one on mobile robot that is dynamic environment. In this paper, we generate 3D optical flow from gotten range image and intensity from stereo camera. It picks out double support phase and single support phase by using variance of this flow vector. It detects the pedestrian by using row of double support phase and single support phase. It is predictably effective because a variance of this flow vector is invariable on mobile robot. It could detect the pedestrian with the accuracy of 79.4% on wheel-type mobile robot.
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© 2008 The Japan Society of Mechanical Engineers
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