2P1-G14 移動ロボットのための3次元オプティカルフローの時系列情報を用いた歩行者検出手法(脳科学・神経科学とロボティクス)

概要

論文の詳細を見る
As for the pedestrian detection method, It ever proposed various one. But it can't detects the pedestrian in dynamic environment. So we researched one on mobile robot that is dynamic environment. In this paper, we generate 3D optical flow from gotten range image and intensity from stereo camera. It picks out double support phase and single support phase by using variance of this flow vector. It detects the pedestrian by using row of double support phase and single support phase. It is predictably effective because a variance of this flow vector is invariable on mobile robot. It could detect the pedestrian with the accuracy of 79.4% on wheel-type mobile robot.
一般社団法人日本機械学会の論文
2008-06-06