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Multi-user identification and efficient user approaching by fusing robot and ambient sensors

: Hu, Ninghang; Bormann, Richard; Zwölfer, Thomas; Kröse, Ben

Preprint urn:nbn:de:0011-n-2986020 (2.6 MByte PDF)
MD5 Fingerprint: 8ff761fc5058ce3749ec3746ab416d42
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Created on: 7.8.2014

Xi, Ning (General Chair) ; IEEE Robotics and Automation Society; Institute of Electrical and Electronics Engineers -IEEE-:
IEEE ICRA 2014, International Conference on Robotics and Automation : Technologies Enabling New Economic Growth. May 31 - June 7, 2014, Hong Kong, China. Workshop & Tutorials. Proceedings
Piscataway, NJ: IEEE, 2014
ISBN: 978-1-4799-3684-7
International Conference on Robotics and Automation (ICRA) <2014, Hong Kong>
European Commission EC
FP7; 287624; ACCOMPANY
Conference Paper, Electronic Publication
Fraunhofer IPA ()
Serviceroboter; service robot; multisensor fusion; RGB-D; human - robot; acceptable robot; face recognition; person detection; person recognition; user identification; person tracking; Objekterkennung; Merkmalerkennung; Roboter

We describe a novel framework that combines an overhead camera and a robot RGB-D sensor for real-time people finding. Finding people is one of the most fundamental tasks in robot home care scenarios and it consists of many components, e.g. people detection, people tracking, face recognition, robot navigation. Researchers have extensively worked on these components, but as isolated tasks. Surprisingly, little attention has been paid on bridging these components as an entire system. In this paper, we integrate the separated modules seamlessly, and evaluate the entire system in a robot-care scenario. The results show largely improved efficiency when the robot system is aided by the localization system of the overhead cameras.