Ir al contenido (pulsa Retorno)

Universitat Politècnica de Catalunya

    • Català
    • Castellano
    • English
    • LoginRegisterLog in (no UPC users)
  • mailContact Us
  • world English 
    • Català
    • Castellano
    • English
  • userLogin   
      LoginRegisterLog in (no UPC users)

UPCommons. Global access to UPC knowledge

58.763 UPC E-Prints
You are here:
View Item 
  •   DSpace Home
  • E-prints
  • Instituts de recerca
  • IRI - Institut de Robòtica i Informàtica Industrial, CSIC-UPC
  • Ponències/Comunicacions de congressos
  • View Item
  •   DSpace Home
  • E-prints
  • Instituts de recerca
  • IRI - Institut de Robòtica i Informàtica Industrial, CSIC-UPC
  • Ponències/Comunicacions de congressos
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Multimodal feedback fusion of laser, image and temporal information

Thumbnail
View/Open
1594-Multimodal-feedback-fusion-of-laser,-image-and-temporal-information.pdf (1,647Mb)
Share:
 
 
10.1145/2659021.2659054
 
  View Usage Statistics
Cita com:
hdl:2117/77457

Show full item record
Huerta Casado, Iván
Ferrer Mínguez, Gonzalo
Herrero Cotarelo, FernandoMés informacióMés informació
Prati, Andrea
Sanfeliu Cortés, AlbertoMés informacióMés informacióMés informació
Document typeConference report
Defense date2014
PublisherAssociation for Computing Machinery (ACM)
Rights accessOpen Access
Attribution-NonCommercial-NoDerivs 3.0 Spain
Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain
ProjectCARGO-ANTS - Cargo handling by Automated Next generation Transportation Systems for ports and terminals (EC-FP7-605598)
Abstract
In the present paper, we propose a highly accurate and robust people detector, which works well under highly variant and uncertain conditions, such as occlusions, false positives and false detections. These adverse conditions, which initially motivated this research, occur when a robotic platform navigates in an urban environment, and although the scope is originally within the robotics field, the authors believe that our contributions can be extended to other fields. To this end, we propose a multimodal information fusion consisting of laser and monocular camera information. Laser information is modelled using a set of weak classifiers (Adaboost) to detect people. Camera information is processed by using HOG descriptors to classify person/non person based on a linear SVM. A multi-hypothesis tracker trails the position and velocity of each of the targets, providing temporal information to the fusion, allowing recovery of detections even when the laser segmentation fails. Experimental results show that our feedback-based system outperforms previous state-of-the-art methods in performance and accuracy, and that near real-time detection performance can be achieved.
CitationHuerta, I., Ferrer, G., Herrero, F., Prati, A., Sanfeliu, A. Multimodal feedback fusion of laser, image and temporal information. A: International Conference on Distributed Smart Cameras. "ICDSC '14 Proceedings of the International Conference on Distributed Smart Cameras". Sevilla: Association for Computing Machinery (ACM), 2014, p. 25:1-25:6. 
URIhttp://hdl.handle.net/2117/77457
DOI10.1145/2659021.2659054
ISBN978-1-4503-2925-5
Collections
  • IRI - Institut de Robòtica i Informàtica Industrial, CSIC-UPC - Ponències/Comunicacions de congressos [463]
  • Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial - Ponències/Comunicacions de congressos [1.413]
  • VIS - Visió Artificial i Sistemes Intel·ligents - Ponències/Comunicacions de congressos [282]
Share:
 
  View Usage Statistics

Show full item record

FilesDescriptionSizeFormatView
1594-Multimodal ... d-temporal-information.pdf1,647MbPDFView/Open

Browse

This CollectionBy Issue DateAuthorsOther contributionsTitlesSubjectsThis repositoryCommunities & CollectionsBy Issue DateAuthorsOther contributionsTitlesSubjects

© UPC Obrir en finestra nova . Servei de Biblioteques, Publicacions i Arxius

info.biblioteques@upc.edu

  • About This Repository
  • Contact Us
  • Send Feedback
  • Inici de la pàgina