3P1-K04 Human Recognition by Extracting Shape Features from LIDAR Data(3D Measurement/Sensor Fusion)

Abstract

In this paper, we propose a human recognition for the autonomous mobile robot using LIDAR. For traveling the autonomous mobile robot, need to recognize of the surrounding environment. In particular, grasp to the humans is important in a railway station or the like. Generally, the camera image is used for the recognition of the human, but it is susceptible to the influence of a change in brightness. In our method, performing recognition using a three dimensional LIDAR, and to recognize the human in a wider range. Furthermore, to perform a stable and high accuracy recognition by learning shape features using SVM. Our experiments are performed indoor and outdoor environments that contain a Tsukuba city, Meiji University to verify its validity.