People detection method using graphics processing units for a mobile robot with an omnidirectional camera
2011
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.
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