People detection method using graphics processing units for a mobile robot with an omnidirectional camera

Sungil Kang; Annah Roh; Bodam Nam; Hyunki Hong

doi:10.1117/1.3660573

1 December 2011 People detection method using graphics processing units for a mobile robot with an omnidirectional camera

Sungil Kang, Annah Roh, Bodam Nam, Hyunki Hong

Author Affiliations +

Optical Engineering, Vol. 50, Issue 12, 127204 (December 2011). https://doi.org/10.1117/1.3660573

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.

©(2011) Society of Photo-Optical Instrumentation Engineers (SPIE)

Citation Download Citation

Sungil Kang, Annah Roh, Bodam Nam, and Hyunki Hong "People detection method using graphics processing units for a mobile robot with an omnidirectional camera," Optical Engineering 50(12), 127204 (1 December 2011). https://doi.org/10.1117/1.3660573

Published: 1 December 2011

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