Walking human avoidance and detection from a mobile robot using 3D depth flow

This paper shows walking human avoidance and detection behavior of a mobile robot using the 3D depth flow. The 3D depth flow proposed is able to measure the 3D motion vector of every pixels between two time sequential images. First, a definition of the 3D depth flow and a simple 3D depth flow calculation method are presented. Then an implementation of the real-time 3D depth flow generation system using a standard PC is described, and the experimental results are given. Finally, as an application, the walking human detection and avoidance task using a mobile robot in real environments is shown.