TY - JOUR A1 - Spiess, Florian A1 - Reinhart, Lukas A1 - Strobel, Norbert A1 - Kaupp, Tobias A1 - Kaiser, Dennis A1 - Kounev, Samuel T1 - People detection with depth silhouettes and convolutional neural networks on a mobile robot JF - Journal of Image and Graphics N2 - This paper presents a novel people detection approach for mobile robot applications based on a combination of classical computer vision techniques and a state-of-the-art neural network. Our approach involves an RGB-D camera as an environmental sensor. The depth data is used to extract silhouettes around people. The RGB images are subsequently augmented with this border information before passing it to the neural network. Under challenging lighting conditions, our system was able to outperform the neural network trained on regular RGB data alone by a factor of two. Y1 - 2021 UR - http://www.joig.net/index.php?m=content&c=index&a=show&catid=72&id=277 VL - 9 IS - 4 SP - 135 EP - 139 ER -