In this paper, we present a human detection system for a domestic robot. A 2D laser scanner based leg detector and a vision based body detector are combined using a grid fusion strategy. This approach has been evaluated on a domestic robot. Furthermore, we propose a methodology to evaluate it in relation to proxemics that could be generalized to other robot's perceptive functions.
Z. Wang et al. REF proposed a human detection system by using a leg detector based 2D laser scanner and a vision based body detector.
A human detection system for proxemics interaction
HRI '11
Computer Science