Using a Rotating 3D LiDAR on a Mobile Robot for Estimation of Person’s Body Angle and Gender

Abstract

We studied the use of a rotating multi-layer 3D Light Detection And Ranging (LiDAR) sensor (specifically the Velodyne HDL-32E) mounted on a social robot for the estimation of features of people around the robot. While LiDARs are often used for robot self-localization and people tracking, we were interested in the possibility of using them to estimate the people’s features (states or attributes), which are important in human–robot interaction. In particular, we tested the estimation of the person’s body orientation and their gender. As collecting data in the real world and labeling them is laborious and time consuming, we also looked into other ways for obtaining data for training the estimators: using simulations, or using LiDAR data collected in the lab. We trained convolutional neural network-based estimators and tested their performance on actual LiDAR measurements of people in a public space. The results show that with a rotating 3D LiDAR a usable estimate of the body angle can indeed be achieved (mean absolute error 33.5 ° ), and that using simulated data for training the estimators is effective. For estimating gender, the results are satisfactory (accuracy above 80%) when the person is close enough; however, simulated data do not work well and training needs to be done on actual people measurements.