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

Sungil Kang, Annah Roh, Bodam Nam, Hyunki Hong
Chung-Ang University, Graduate School of Advanced Imaging, Science, Multimedia and Film, Department of Imaging Science and Arts, 221 Huksuk-dong, Dongjak-ku, Seoul, 156-756, Republic of Korea
Optical Engineering, Volume 50, Issue 12, 2011

@article{kang2011people,

   title={People detection method using graphics processing units for a mobile robot with an omnidirectional camera},

   author={Kang, S. and Roh, A. and Nam, B. and Hong, H.},

   journal={Optical Engineering},

   volume={50},

   number={12},

   pages={127204},

   year={2011}

}

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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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