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Low-Body-Part Detection using RGB-D camera

Published: 02 March 2015 Publication History

Abstract

The reliable perception of a human in a dynamic environment is the most critical issue for interactive human-robot services. In human-robot interaction, a camera on a robot naturally captures the low-body-part of human because robots are usually shorter than the human. Conventionally, a two-dimensional laser range finder is used in low-body-part detection [1, 2]. However, these methods may cause errors when there are similar structures with legs. This video demonstrates a low-body-part detection scheme that not only exploits three-dimensional characteristics and but also the RGB features of the low-body-part. We build the low-body-part candidates by clustering from the legs to the heap. In the results, spurious candidates are eliminated by the proposed method.

Supplementary Material

suppl.mov (hrivd0106-file3.mp4)
Supplemental video

References

[1]
Bellotto, N. and Hu, H. 2009. Multisensor-based human detection and tracking for mobile service robots. IEEE Trans. on Systems, Man, and Cybernetics -- Part B. 39, 1, 167--181.
[2]
Arras, K. Mozos, O. and Burgard, W. 2007. Using boosted features for the detection of people in 2d range data. in Robotics and Automation, IEEE International Conference on. (april. 2007), 3402--3407.
[3]
Dalal, N. and Triggs, B. 2009. Histograms of Oriented Gradients for. Human Detection. In CVPR. 886--893.
[4]
Bar-Shalom, Y. Daum, F. and Huang, Jim. 2009. The probabilistic data association filter. IEEE Control Systems. 29, 6, 82--100.

Cited By

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  • (2017)The reliable recovery mechanism for person-following robot in case of missing target2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)10.1109/URAI.2017.7992828(800-803)Online publication date: Jun-2017
  • (2015)A simultaneous robot service scheme for Multi-users2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)10.1109/URAI.2015.7358912(373-374)Online publication date: Oct-2015
  • (2015)Multiple humans recognition of robot aided by Perception Sensor Network2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)10.1109/URAI.2015.7358890(359-361)Online publication date: Oct-2015

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Published In

cover image ACM Conferences
HRI'15 Extended Abstracts: Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction Extended Abstracts
March 2015
336 pages
ISBN:9781450333184
DOI:10.1145/2701973
Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the Owner/Author.

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 02 March 2015

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Author Tags

  1. HRI
  2. human tracking
  3. mobile perception

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  • Abstract

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  • Ministry of Trade Industry and Energy Republic of Korea

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HRI '15
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HRI'15 Extended Abstracts Paper Acceptance Rate 92 of 102 submissions, 90%;
Overall Acceptance Rate 192 of 519 submissions, 37%

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March 4 - 6, 2025
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Cited By

View all
  • (2017)The reliable recovery mechanism for person-following robot in case of missing target2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)10.1109/URAI.2017.7992828(800-803)Online publication date: Jun-2017
  • (2015)A simultaneous robot service scheme for Multi-users2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)10.1109/URAI.2015.7358912(373-374)Online publication date: Oct-2015
  • (2015)Multiple humans recognition of robot aided by Perception Sensor Network2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)10.1109/URAI.2015.7358890(359-361)Online publication date: Oct-2015

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