Share Email Print
cover

Proceedings Paper

Detecting and tracking humans using a man-portable robot
Author(s): David Baran; Nick Fung; Sean Ho; James Sherman
Format Member Price Non-Member Price
PDF $14.40 $18.00
cover GOOD NEWS! Your organization subscribes to the SPIE Digital Library. You may be able to download this paper for free. Check Access

Paper Abstract

Large gains in the automation of human detection and tracking techniques have been made over the past several years. Several of these techniques have been implemented on larger robotic platforms, in order to increase the situational awareness provided by the platform. Further integration onto a smaller robotic platform that already has obstacle detection and avoidance capabilities would allow these algorithms to be utilized in scenarios that are not plausible for larger platforms, such as entering a building and surveying a room for human occupation with limited operator intervention. However, transitioning these algorithms to a man-portable robot imparts several unique constraints, including limited power availability, size and weight restrictions, and limited processor ability. Many imaging sensors, processing hardware, and algorithms fail to adequately address one or more of these constraints. In this paper, we describe the design of a payload suitable for our chosen man-portable robot, the iRobot Packbot. While the described payload was built for a Packbot, it was carefully designed in order to be platform agnostic, so that it can be used on any man-portable robot. Implementations of several existing motion and face detection algorithms that have been chosen for testing on this payload are also discussed in some detail.

Paper Details

Date Published: 30 April 2009
PDF: 11 pages
Proc. SPIE 7332, Unmanned Systems Technology XI, 733215 (30 April 2009); doi: 10.1117/12.818813
Show Author Affiliations
David Baran, Army Research Lab. (United States)
Nick Fung, Army Research Lab. (United States)
Sean Ho, Army Research Lab. (United States)
James Sherman, Army Research Lab. (United States)


Published in SPIE Proceedings Vol. 7332:
Unmanned Systems Technology XI
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

© SPIE. Terms of Use
Back to Top