Human Tracking with a Mobile Robot using a Laser Range-Finder

• Okusako Shinichi

  Hitachi, Ltd.

• Sakane Shigeyuki

  Faculty of Science and Engineering, Chuo University

Bibliographic Information

Other Title

• 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
• レーザレンジファインダ オ モチイタ イドウ ロボット ニ ヨル ヒト ノ ツイセキ

Abstract

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 r-θ coordinates to a 2D image with x-y 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.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 24 (5), 605-613, 2006

  The Robotics Society of Japan

Keywords

• Human Tracking
• Laser Range Finder
• View-based Tracking
• Block Matching
• Particle Filter

Details

• CRID: 1390001204725984896
• NII Article ID: 10018009401
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.24.605
• ISSN: 18847145
• ISSN: 02891824
• ISSN: http://id.crossref.org/issn/02891824
• NDL BIB ID: 8038952
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I8038952
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed