People tracking using a robot in motion with laser range finder

被引：48

作者：

Lee, Jae Hoon ^{[1
]}

Tsubouchi, Takashi ^{[1
]}

Yamamoto, Kenjiro ^{[2
]}

Egawa, Saku ^{[2
]}

机构：

[1] Univ Tsukuba, Inst Informat & Electron, Tsukuba, Ibaraki 305, Japan

[2] Hitachi Ltd, Mech Engn Res Lab, Hitachinaka, Ibaraki, Japan

来源：

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年

关键词：

tracking people; mobile robot with LRF; walking frequency tracker;

D O I：

10.1109/IROS.2006.282147

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

To monitor multiple moving objects from a robot in motion is an essential technology in robotic application areas including service and security for human daily life. For this, a method to track multiple walking humans using a mobile robot "in motion" with Laser Range Finder (LRF) is investigated in this paper. Geometric characteristics of human legs are considered to detect their position from the LRF data. Frequency and phase of walking motion are extracted using a pendulum model of the angle between two legs and extended Kalman filter. The algorithm with human walking model anticipates the position of moving humans. The effectiveness of the proposed method is also evaluated with some experiments to track multiple walking humans in indoor environment. An experimental test-bed which consists of a mobile robot 'Yamabico' and a LRF is employed to track people. Resultant experiments and analysis showed that multiple walking people are tracked well from a mobile robot with the proposed method.

引用

页码：2936 / +

页数：2

共 10 条

[1]

BITTANTI S, 2000, IEEE T AUTOMATIC CON, V45

[2]

CUI J, P IEEE RSJ INT C INT, P1301

[3]

Fod A, 2002, 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, P3024, DOI 10.1109/ROBOT.2002.1013691

[4] The visual analysis of human movement: A survey [J].

Gavrila, DM .

COMPUTER VISION AND IMAGE UNDERSTANDING, 1999, 73 (01) :82-98

[5]

Kluge B, 2001, IEEE INT CONF ROBOT, P1683, DOI 10.1109/ROBOT.2001.932853

[6] BALLISTIC WALKING [J].

MOCHON, S ;

MCMAHON, TA .

JOURNAL OF BIOMECHANICS, 1980, 13 (01) :49-57

[7]

SCHEUTZ M, 2004, P IEEE RSJ INT C INT, P1347

[8]

SCHULZ D, 2003, P IEEE INT C ROB AUT, P1665

[9]

Tsubouchi T., 1996, J ROBOTICS MECHATRON, V8, P58

[10]

ZHAO H, 2005, IEEE T SYSTEMS MAN C, V35

← 1 →