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Development of a Human Detecting System Based on Three-Dimensional Point Cloud
Yushi Iwama,Yoshinobu Ando 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
In this paper, we present a human detecting system based on three-dimensional(3D) point cloud by discriminating between human and other objects by using range sensor. Although the shape of same objects seen from a sensor according to the difference of distance between the object and a sensor, we divided some areas in the vicinity of a sensor (about 0.3m~5m) by the difference of distance. Then, we set different detecting conditions in every area. Moreover, we measured shape of human and formulated the detecting condition partly, then we regulated it through experiment in order to detect human regardless of direction of its body. Finally, we tested the system of human detection through some experiments, then we verified its effectiveness even if the height and the place where human is detected are different. This paper details the method we propose and gives some experimental results to verify its effectiveness.