Human three-dimensional modeling based on intelligent sensor fusion for a tele-operated mobile robot

Abstract

In this paper, we discuss a robot vision in order to perceive humans and the environment around a mobile robot. We developed a tele-operated mobile robot with a pan-tilt mechanism composed of a camera and a laser range finder (LRF). The output from the camera is color information, and the output of LRF is distance information to objects from the robot Tn this paper, we propose a method of sensor fusion to extract a human from the measured data by integrating these outputs based on the concept of synthesis. Finally, we show experimental results of the proposed method. © Springer-Verlag Berlin Heidelberg 2007.