レーザレンジファインダを用いた移動ロボットによる人の追跡 [in Japanese] Human Tracking with a Mobile Robot using a Laser Range-Finder [in Japanese]
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Human tracking is a fundamental research issue for mobile robot, since coexistence of human and robots is expected in the near future. In this paper, we present a new method for real-time tracking of human walking around a robot using a laser range-finder. The method converts range data with <I>r</I>-θ coordinates to a 2D image with <I>x-y</I> coordinates. Then human tracking is performed using block matching between templates, i.e. appearances of human legs, and the input range data. The view-based human tracking method has the advantage of simplicity over conventional methods which extract local minima in the range data. In addition, the proposed tracking system employs a particle filter to robustly track human in case of occlusions. Experimental results using a real robot demonstrate usefulness of the proposed method.
JRSJ 24(5), 605-613, 2006-07-15
The Robotics Society of Japan