A Computational Approach to Edge Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
Experiences with an interactive museum tour-guide robot
Artificial Intelligence - Special issue on applications of artificial intelligence
Integrated Person Tracking Using Stereo, Color, and Pattern Detection
International Journal of Computer Vision - Special issue on a special section on visual surveillance
Experiences with a mobile robotic guide for the elderly
Eighteenth national conference on Artificial intelligence
Learning Pedestrian Models for Silhouette Refinement
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Robust Detection of People in Thermal Imagery
ICPR '04 Proceedings of the Pattern Recognition, 17th International Conference on (ICPR'04) Volume 4 - Volume 04
Interactions with a moody robot
Proceedings of the 1st ACM SIGCHI/SIGART conference on Human-robot interaction
Service robots in the domestic environment: a study of the roomba vacuum in the home
Proceedings of the 1st ACM SIGCHI/SIGART conference on Human-robot interaction
Robust real-time upper body limb detection and tracking
Proceedings of the 4th ACM international workshop on Video surveillance and sensor networks
Fusion of color and infrared video for moving human detection
Pattern Recognition
People detection and tracking using stereo vision and color
Image and Vision Computing
Extraction of Person Silhouettes from Surveillance Imagery using MRFs
WACV '07 Proceedings of the Eighth IEEE Workshop on Applications of Computer Vision
People recognition by mobile robots
Journal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology - AILS '04
Robust Color-Based Skin Detection for an Interactive Robot
AI*IA '07 Proceedings of the 10th Congress of the Italian Association for Artificial Intelligence on AI*IA 2007: Artificial Intelligence and Human-Oriented Computing
Object detection using image reconstruction with PCA
Image and Vision Computing
Human silhouette extraction method using region based background subtraction
MIRAGE'07 Proceedings of the 3rd international conference on Computer vision/computer graphics collaboration techniques
A probabilistic multimodal sensor aggregation scheme applied for a mobile robot
KI'05 Proceedings of the 28th annual German conference on Advances in Artificial Intelligence
Burrow-centric distance-estimation methods inspired by surveillance behavior of fiddler crabs
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
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People detection and tracking is a key issue for social robot design and effective human robot interaction. This paper addresses the problem of detecting people with a mobile robot using a stereo camera. People detection using mobile robots is a difficult task because in real world scenarios it is common to find: unpredictable motion of people, dynamic environments, and different degrees of human body occlusion. Additionally, we cannot expect people to cooperate with the robot to perform its task. In our people detection method, first, an object segmentation method that uses the distance information provided by a stereo camera is used to separate people from the background. The segmentation method proposed in this work takes into account human body proportions to segment people and provides a first estimation of people location. After segmentation, an adaptive contour people model based on people distance to the robot is used to calculate a probability of detecting people. Finally, people are detected merging the probabilities of the contour people model and by evaluating evidence over time by applying a Bayesian scheme. We present experiments on detection of standing and sitting people, as well as people in frontal and side view with a mobile robot in real world scenarios.