Detecting people is a key capability for robots that operate in populated environments. In this paper, we have adopted a hierarchical approach that combines classifiers created using supervised learning in order to identify whether a person is in the view-scope of the robot or not. Our approach makes use of vision, depth and thermal sensors mounted on top of a mobile platform. The set of sensors is set up combining the rich data source offered by a Kinect sensor, which provides vision and depth at low cost, and a thermopile array sensor. Experimental results carried out with a mobile platform in a manufacturing shop floor and in a science museum have shown that the false positive rate achieved using any single cue is drastically reduced. The performance of our algorithm improves other well-known approaches, such as C4 and histogram of oriented gradients (HOG). © 2013 by the authors; licensee MDPI, Basel, Switzerland.
Susperregi, L., Sierra, B., Castrillón, M., Lorenzo, J., Martínez-Otzeta, J. M., & Lazkano, E. (2013). On the use of a low-cost thermal sensor to improve kinect people detection in a mobile robot. Sensors (Switzerland), 13(11), 14687–14713. https://doi.org/10.3390/s131114687