A Real-Time Deep Learning Pedestrian Detector for Robot Navigation

A real-time Deep Learning based method for Pedestrian Detection (PD) is applied to the Human-Aware robot navigation problem. The pedestrian detector combines the Aggregate Channel Features (ACF) detector with a deep Convolutional Neural Network (CNN) in order to obtain fast and accurate performance. Our solution is firstly evaluated using a set of real images taken from onboard and offboard cameras and, then, it is validated in a typical domestic indoor scenario, in two distinct experiments. The results show that the robot is able to cope with human-aware constraints, defined after common proxemics rules.