Multimodal feedback fusion of laser, image and temporal information

Ivan Huerta, Gonzalo Ferrer, Fernando Herrero, Andrea Prati, Alberto Sanfeliu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)

Abstract

In the present paper, we propose a highly accurate and robust people detector, which works well under highly variant and uncertain conditions, such as occlusions, false positives and false detections. These adverse conditions, which initially motivated this research, occur when a robotic platform navigates in an urban environment, and although the scope is originally within the robotics field, the authors believe that our contributions can be extended to other fields. To this end, we propose a multimodal information fusion consisting of laser and monocular camera information. Laser information is modelled using a set of weak classifiers (Ad-aboost) to detect people. Camera information is processed by using HOG descriptors to classify person/non person based on a linear SVM. A multi-hypothesis tracker trails the position and velocity of each of the targets, providing temporal information to the fusion, allowing recovery of detections even when the laser segmentation fails. Experimental results show that our feedback-based system outperforms previous state-of-the-art methods in performance and accuracy, and that near real-time detection performance can be achieved.

Original languageEnglish
Title of host publicationProceedings of the 8th ACM/IEEE International Conference on Distributed Smart Cameras, ICDSC 2014
PublisherAssociation for Computing Machinery, Inc
ISBN (Electronic)9781450329255
DOIs
Publication statusPublished - 4 Nov 2014
Externally publishedYes
Event8th ACM/IEEE International Conference on Distributed Smart Cameras, ICDSC 2014 - Venezia, Italy
Duration: 4 Nov 20147 Nov 2014

Publication series

NameProceedings of the 8th ACM/IEEE International Conference on Distributed Smart Cameras, ICDSC 2014

Conference

Conference8th ACM/IEEE International Conference on Distributed Smart Cameras, ICDSC 2014
Country/TerritoryItaly
CityVenezia
Period4/11/147/11/14

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