Monocular Person Localization with Lidar Fusion for Social Navigation | IEEE Conference Publication | IEEE Xplore

Monocular Person Localization with Lidar Fusion for Social Navigation


Abstract:

Smooth social navigation requires not only detection of the people around the robot, but also accurate localization of the people, a process difficult to achieve with a s...Show More

Abstract:

Smooth social navigation requires not only detection of the people around the robot, but also accurate localization of the people, a process difficult to achieve with a single sensing modality. Hence, literature has focused on various fusion approaches, such as RGB-D, ROI based lidar vision fusion, or Artificial Neural Network (ANN) based lidar vision fusion. However, monocular photogrammetry has always been ignored in the literature. In this work, we propose a fusion approach based on monocular positon estimation and lidar, and show the effectivenes of the approach both on a public dataset and a purpose built dataset with different cameras.
Date of Conference: 04-07 September 2023
Date Added to IEEE Xplore: 27 September 2023
ISBN Information:

ISSN Information:

Conference Location: Coimbra, Portugal

References

References is not available for this document.