Depth and thermal image fusion for human detection with occlusion handling under poor illumination from mobile robot
In this paper we present a vision-based approach to detect multiple persons with occlusion handling from a mobile robot in real-world scenarios under two lighting conditions, good illumination (lighted) and poor illumination (dark). We use depth and thermal information that are fused for occlusion h...
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Springer Verlag
2016
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author | Hasim, Saipol Hadi Mamat, Rosbi Sheikh, Usman Ullah Mohd. Amin, Shamsuddin |
author_facet | Hasim, Saipol Hadi Mamat, Rosbi Sheikh, Usman Ullah Mohd. Amin, Shamsuddin |
author_sort | Hasim, Saipol Hadi |
collection | ePrints |
description | In this paper we present a vision-based approach to detect multiple persons with occlusion handling from a mobile robot in real-world scenarios under two lighting conditions, good illumination (lighted) and poor illumination (dark). We use depth and thermal information that are fused for occlusion handling. First, a classifier is trained using thermal images of the human upper-body. This classifier is used to obtain the bounding box coordinates of human. The depth image is later fused with the region of interest obtained from the thermal image. Using the initial bounding box, occlusion handling is performed to determine the final position of human in the image. The proposed method significantly improves human detection even in crowded scene and poor illumination. |
first_indexed | 2024-03-05T20:00:58Z |
format | Article |
id | utm.eprints-71233 |
institution | Universiti Teknologi Malaysia - ePrints |
last_indexed | 2024-03-05T20:00:58Z |
publishDate | 2016 |
publisher | Springer Verlag |
record_format | dspace |
spelling | utm.eprints-712332017-11-15T03:47:19Z http://eprints.utm.my/71233/ Depth and thermal image fusion for human detection with occlusion handling under poor illumination from mobile robot Hasim, Saipol Hadi Mamat, Rosbi Sheikh, Usman Ullah Mohd. Amin, Shamsuddin TK Electrical engineering. Electronics Nuclear engineering In this paper we present a vision-based approach to detect multiple persons with occlusion handling from a mobile robot in real-world scenarios under two lighting conditions, good illumination (lighted) and poor illumination (dark). We use depth and thermal information that are fused for occlusion handling. First, a classifier is trained using thermal images of the human upper-body. This classifier is used to obtain the bounding box coordinates of human. The depth image is later fused with the region of interest obtained from the thermal image. Using the initial bounding box, occlusion handling is performed to determine the final position of human in the image. The proposed method significantly improves human detection even in crowded scene and poor illumination. Springer Verlag 2016 Article PeerReviewed Hasim, Saipol Hadi and Mamat, Rosbi and Sheikh, Usman Ullah and Mohd. Amin, Shamsuddin (2016) Depth and thermal image fusion for human detection with occlusion handling under poor illumination from mobile robot. Studies in Computational Intelligence, 647 . pp. 365-380. ISSN 1860-949X https://www.scopus.com/inward/record.uri?eid=2-s2.0-84991769730&doi=10.1007%2f978-3-319-33353-3_19&partnerID=40&md5=9a48d22337b4709e0eca954126e99d32 |
spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Hasim, Saipol Hadi Mamat, Rosbi Sheikh, Usman Ullah Mohd. Amin, Shamsuddin Depth and thermal image fusion for human detection with occlusion handling under poor illumination from mobile robot |
title | Depth and thermal image fusion for human detection with occlusion handling under poor illumination from mobile robot |
title_full | Depth and thermal image fusion for human detection with occlusion handling under poor illumination from mobile robot |
title_fullStr | Depth and thermal image fusion for human detection with occlusion handling under poor illumination from mobile robot |
title_full_unstemmed | Depth and thermal image fusion for human detection with occlusion handling under poor illumination from mobile robot |
title_short | Depth and thermal image fusion for human detection with occlusion handling under poor illumination from mobile robot |
title_sort | depth and thermal image fusion for human detection with occlusion handling under poor illumination from mobile robot |
topic | TK Electrical engineering. Electronics Nuclear engineering |
work_keys_str_mv | AT hasimsaipolhadi depthandthermalimagefusionforhumandetectionwithocclusionhandlingunderpoorilluminationfrommobilerobot AT mamatrosbi depthandthermalimagefusionforhumandetectionwithocclusionhandlingunderpoorilluminationfrommobilerobot AT sheikhusmanullah depthandthermalimagefusionforhumandetectionwithocclusionhandlingunderpoorilluminationfrommobilerobot AT mohdaminshamsuddin depthandthermalimagefusionforhumandetectionwithocclusionhandlingunderpoorilluminationfrommobilerobot |