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Optical Engineering

People detection method using graphics processing units for a mobile robot with an omnidirectional camera
Author(s): Sungil Kang; Annah Roh; Bodam Nam; Hyunki Hong
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Paper Abstract

This paper presents a novel vision system for people detection using an omnidirectional camera mounted on a mobile robot. In order to determine regions of interest (ROI), we compute a dense optical flow map using graphics processing units, which enable us to examine compliance with the ego-motion of the robot in a dynamic environment. Shape-based classification algorithms are employed to sort ROIs into human beings and nonhumans. The experimental results show that the proposed system detects people more precisely than previous methods.

Paper Details

Date Published: 1 December 2011
PDF: 9 pages
Opt. Eng. 50(12) 127204 doi: 10.1117/1.3660573
Published in: Optical Engineering Volume 50, Issue 12
Show Author Affiliations
Sungil Kang, Chung-Ang Univ. (Korea, Republic of)
Annah Roh, Chung-Ang Univ. (Korea, Republic of)
Bodam Nam, Chung-Ang Univ. (Korea, Republic of)
Hyunki Hong, Chung-Ang Univ. (Korea, Republic of)


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