Online Learning for 3D LiDAR-based Human Detection: Experimental Analysis of Point Cloud Clustering and Classification Methods

This paper presents a system for online learning of human classifiers by mobile service robots using 3D~LiDAR sensors, and its experimental evaluation in a large indoor public space. The learning framework requires a minimal set of labelled samples (e.g. one or several samples) to initialise a classifier. The classifier is then retrained iteratively during operation of the robot. New training samples are generated automatically using multi-target tracking and a pair of "experts" to estimate false negatives and false positives. Both classification and tracking utilise an efficient real-time clustering algorithm for segmentation of 3D point cloud data. We also introduce a new feature to improve human classification in sparse, long-range point clouds. We provide an extensive evaluation of our the framework using a 3D LiDAR dataset of people moving in a large indoor public space, which is made available to the research community. The experiments demonstrate the influence of the system components and improved classification of humans compared to the state-of-the-art