Distributed pedestrian detection system and method based on mobile robot platform

Abstract

The invention discloses a distributed pedestrian detection system and method based on a mobile robot platform. The system comprises the mobile robot platform and a Microsoft Kinect camera, a desktop computer and a network communication device, wherein the Microsoft Kinect camera, the desktop computer and the network communication device are carried on the mobile robot platform. The method includes the steps that various current mature detection algorithms related to pedestrians and a robot operating system (ROS) are fused, various characteristics of the pedestrians are calculated through distributed calculation nodes of the robot operating system (ROS), various calculated characteristic data are comprehensively fused, pedestrian targets can be stably tracked in the robot moving process, and then detection accuracy is improved, wherein the distributed calculation nodes mainly include the histogram of gradients ( HOG) node, the face detection node, the upper body histogram of gradients (HOG) node, the skin color detection node, the point cloud detection node and the gesture detection node. The system and method are mainly used for detection calculation of the pedestrians in images of a mobile robot, and especially for mobile robot pedestrian detection calculation so that human-machine interaction can be achieved.

Description

technical field [0001] The invention discloses a distributed pedestrian detection system and method based on a mobile robot platform, and relates to the field of robot vision, pattern recognition technology and distributed computing based on a robot operating system ROS. Background technique [0002] Pedestrian detection is necessary for future intelligent vehicle assisted driving systems. It can effectively assist drivers driving vehicles in urban environments to respond to the external environment in a timely manner, avoid collisions with pedestrians, and reduce traffic accidents. Human body detection can also be used in the security real-time system of video surveillance to analyze and detect intrusion behavior from continuous video clips, so as to ensure the safety of personal and public personal property. [0003] Accurate detection of people by mobile robot platforms is the basis for mobile robots to track people in real time, and it is the prerequisite for human-compu...

AI Technical Summary

Problems solved by technology

[0007] In order to overcome the shortcomings of the above-mentioned prior art and utilize the advantages of the robot operating system ROS, the present invention provides a distributed pedestrian detection system and method based on a mobile robot platform, which solves the problem that it is difficult to distinguish pedestrians during the robot's movement, and can Stably track pedestrian targets and improve detection accuracy

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