Robotics 2 AdaBoost for People and Place Detection

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Motivation: People Detection Appearance of people in range data changesdrastically with:- Body pose- Distance to sensor- Partial occlusion and self-occlusion 2d data from a SICK laser scanner
Motivation: People Detection Appearance of people in range data:3d data from a Velodyne sensor
Page 1 and 2: Robotics 2AdaBoost for Peopleand Pl
Page 3 and 4: Motivation: People DetectionPeople
Page 5: Motivation: People Detection Where
Page 9 and 10: Motivation: People DetectionFreibur
Page 11 and 12: Motivation: People Detection Freibu
Page 13 and 14: Contents Motivation AdaBoost Boosti
Page 15 and 16: AdaBoost What AdaBoost can do for y
Page 17 and 18: ClassificationLinear vs non-linear
Page 19 and 20: ClassificationError typesTrue value
Page 21 and 22: AdaBoost: Weak ClassifierDecision s
Page 23 and 24: AdaBoost: Strong Classifier Computi
Page 25 and 26: AdaBoost: Weak Classifier Train a d
Page 27 and 28: AdaBoost: Weak ClassifierTraining a
Page 29 and 30: AdaBoost: Step-By-Step Training dat
Page 31 and 32: AdaBoost: Step-By-Step Iteration 1,
Page 47 and 48: AdaBoost: Wrap Up Misclassified sam
Page 49 and 50: Problem and Approach Can we find ro
Page 51 and 52: Segmentation Divide the scan into s
Page 53 and 54: SegmentationRaw scanSegmented scan
Page 55 and 56: FeaturesSegment1. Number of points2
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FeaturesSegment10. Boundary Length1
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Training: Data Labeling Mark segmen
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Training Resulting Training Set+1 -
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AdaBoost: Final Strong ClassifierSt
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ExperimentsEnv. 1 & 2: Corridor and
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Experiments Comparison with hand-tu
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Result: ClassificationTFT F
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Contents Motivation AdaBoost Boosti
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Place Labeling: Motivation Wanted:
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Scenario Example 2 Semantic mapping
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Observations
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ObservationsRoom
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ObservationsRoomDoorway
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Similar Observations
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Classification Problem
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Classification Problem?CorridorRoom
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Representing the Observations A lis
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Simple Features Features of the raw
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Multiple ClassesCorridorRoomDoorway
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Multiple Classes Sequence of binary
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ExperimentsTraining (left)# example
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Application to New EnvironmentTrain
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Robotics 2 AdaBoost for People and Place Detection

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