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

초록

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. (C) 2011 Society of Photo-Optical Instrumentation Engineers (SPIE).

키워드