Infrared motion sensing system for human-following robots

被引：14

作者：

Feng, Guodong ^{[1
]}

Guo, Xuemei ^{[1
]}

Wang, Guoli ^{[1
]}

机构：

[1] Sun Yat Sen Univ, Sch Informat Sci & Technol, Guangzhou 510006, Guangdong, Peoples R China

来源：

SENSORS AND ACTUATORS A-PHYSICAL | 2012年 / 185卷

关键词：

Pyroelectric infrared sensors; Human motion localization; Reference structure tomography; Least squares method; Human-following robots; HUMAN TRACKING;

D O I：

10.1016/j.sna.2012.06.023

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper presents an infrared motion sensing system for human-following robots. The proposed sensing system consists of two layers: a geometric sensing layer and a cooperative sensing layer. Through a modulation of the sensor field of view (FOV), the geometric sensing layer can generate bearing measurements of a moving human target from multiple perspectives. Through a fusion of bearing measurements from multiple perspectives, the cooperative sensing layer can localize the target and predict its moving direction for the robot to perform related actions. In this study, pyroelectric infrared (PIR) sensor arrays and Fresnel lenses are used for geometric sensing. The least square method is used for data fusion. The performance of the sensing system is evaluated through experiments of human localization and human following. (C) 2012 Elsevier B.V. All rights reserved.

引用

页码：1 / 7

页数：7

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